From 43b7fc6021a319ef49c40c03e3fad745dd15a0ab Mon Sep 17 00:00:00 2001
From: Michael Keller <github@ike.ch>
Date: Sat, 25 Apr 2020 12:56:23 +1200
Subject: [PATCH] Merge pull request #9728 from
 etracer65/dynamic_idle_rpmfilter_check

---
 src/main/fc/config.c    | 8 ++++++++
 src/main/flight/mixer.c | 6 +-----
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index d64fc3c116..4328d159dc 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -514,6 +514,14 @@ static void validateAndFixConfig(void)
         && motorConfig()->dev.useDshotTelemetry) {
         motorConfigMutable()->dev.useDshotTelemetry = false;
     }
+
+#if defined(USE_DYN_IDLE)
+    if (!isRpmFilterEnabled()) {
+        for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
+            pidProfilesMutable(i)->idle_min_rpm = 0;
+        }
+    }
+#endif // USE_DYN_IDLE
 #endif // USE_DSHOT_TELEMETRY
 #endif // USE_DSHOT
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 68f6d5b1bb..b527c7890c 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -350,11 +350,7 @@ void initEscEndpoints(void)
 void mixerInitProfile(void)
 {
 #ifdef USE_DYN_IDLE
-    if (motorConfig()->dev.useDshotTelemetry) {
-        idleMinMotorRps = currentPidProfile->idle_min_rpm * 100.0f / 60.0f;
-    } else {
-        idleMinMotorRps = 0;
-    }
+    idleMinMotorRps = currentPidProfile->idle_min_rpm * 100.0f / 60.0f;
     idleMaxIncrease = currentPidProfile->idle_max_increase * 0.001f;
     idleP = currentPidProfile->idle_p * 0.0001f;
 #endif