Improved the naming of the digital idle offset getter.

src/main/blackbox/blackbox.c

@@ -1475,7 +1475,7 @@ static bool blackboxWriteSysinfo(void)
 #endif
 
 #if defined(USE_DYN_IDLE)
-        BLACKBOX_PRINT_HEADER_LINE("dynamic_idle_offset", "%d",             currentPidProfile->idle_min_rpm ? lrintf(getDynamicIdleOffset()) : 0);
+        BLACKBOX_PRINT_HEADER_LINE("dynamic_idle_min_rpm", "%d",            currentPidProfile->idle_min_rpm);
 #endif
 
         default:

src/main/drivers/dshot.c

@@ -50,15 +50,15 @@
 #include "dshot.h"
 
 void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow) {
-    float outputLimitOffset = (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) * (1 - outputLimit);
+    float outputLimitOffset = DSHOT_RANGE * (1 - outputLimit);
     *disarm = DSHOT_CMD_MOTOR_STOP;
     if (featureIsEnabled(FEATURE_3D)) {
-        *outputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
+        *outputLow = DSHOT_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * (DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE);
         *outputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset / 2;
-        *deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
+        *deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * (DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE);
         *deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - outputLimitOffset / 2;
     } else {
-        *outputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
+        *outputLow = DSHOT_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * DSHOT_RANGE;
         *outputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset;
     }
 }

src/main/drivers/dshot.h

@@ -27,6 +27,7 @@
 #define DSHOT_MIN_THROTTLE       48
 #define DSHOT_MAX_THROTTLE     2047
 #define DSHOT_3D_FORWARD_MIN_THROTTLE 1048
+#define DSHOT_RANGE (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE)
 
 #define MIN_GCR_EDGES         7
 #define MAX_GCR_EDGES         22

src/main/drivers/motor.c

@@ -321,9 +321,15 @@ timeMs_t motorGetMotorEnableTimeMs(void)
 #endif
 
 #ifdef USE_DSHOT_BITBANG
-bool isDshotBitbangActive(const motorDevConfig_t *motorDevConfig) {
+bool isDshotBitbangActive(const motorDevConfig_t *motorDevConfig)
+{
     return motorDevConfig->useDshotBitbang == DSHOT_BITBANG_ON ||
         (motorDevConfig->useDshotBitbang == DSHOT_BITBANG_AUTO && motorDevConfig->useDshotTelemetry && motorDevConfig->motorPwmProtocol != PWM_TYPE_PROSHOT1000);
 }
 #endif
+
+float getDigitalIdleOffset(const motorConfig_t *motorConfig)
+{
+	return CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue * 0.01f);
+}
 #endif // USE_MOTOR

src/main/drivers/motor.h

@@ -100,3 +100,5 @@ struct motorDevConfig_s;
 typedef struct motorDevConfig_s motorDevConfig_t;
 bool isDshotBitbangActive(const motorDevConfig_t *motorConfig);
 #endif
+
+float getDigitalIdleOffset(const motorConfig_t *motorConfig);

src/main/flight/mixer.h

@@ -117,4 +117,3 @@ bool isFixedWing(void);
 
 float getMotorOutputLow(void);
 float getMotorOutputHigh(void);
-float getDynamicIdleOffset(void);

src/main/flight/mixer_init.c

@@ -396,11 +396,6 @@ static void mixerConfigureOutput(void)
 }
 #endif // USE_QUAD_MIXER_ONLY
 
-float getDynamicIdleOffset(void)
-{
-    return motorConfig()->digitalIdleOffsetValue * 0.0001f * PWM_RANGE;
-}
-
 void mixerInit(mixerMode_e mixerMode)
 {
     currentMixerMode = mixerMode;
@@ -415,7 +410,7 @@ void mixerInit(mixerMode_e mixerMode)
 #endif
 
 #ifdef USE_DYN_IDLE
-    mixerRuntime.idleThrottleOffset = getDynamicIdleOffset();
+    mixerRuntime.idleThrottleOffset = getDigitalIdleOffset(motorConfig()) * PWM_RANGE;
 #endif
 
     mixerConfigureOutput();