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Code Issues Wiki Activity

Fixed Dshot command issues with BLHeli_S ESCs.

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This commit is contained in:
Michael Keller 2017-09-05 08:30:03 +12:00
parent 76207372a4
commit 4b2e3c6dda
3 changed files with 9 additions and 1 deletions
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2
src/main/drivers/pwm_output.c
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@ -384,7 +384,7 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command)
case DSHOT_CMD_SAVE_SETTINGS: case DSHOT_CMD_SAVE_SETTINGS:
case DSHOT_CMD_SPIN_DIRECTION_NORMAL: case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
case DSHOT_CMD_SPIN_DIRECTION_REVERSED: case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
repeats = 20; repeats = 10;
break; break;
default: default:
repeats = 1; repeats = 1;

4
src/main/fc/fc_core.c
View file

@ -262,6 +262,8 @@ void tryArm(void)
} }
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXDSHOTREVERSE)) { if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXDSHOTREVERSE)) {
pwmDisableMotors();
if (!IS_RC_MODE_ACTIVE(BOXDSHOTREVERSE)) { if (!IS_RC_MODE_ACTIVE(BOXDSHOTREVERSE)) {
reverseMotors = false; reverseMotors = false;
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL); pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL);
@ -269,6 +271,8 @@ void tryArm(void)
reverseMotors = true; reverseMotors = true;
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED); pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED);
} }
pwmEnableMotors();
} }
#endif #endif

4
src/main/io/beeper.c
View file

@ -364,7 +364,11 @@ void beeperUpdate(timeUs_t currentTimeUs)
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (!areMotorsRunning() && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) { if (!areMotorsRunning() && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) {
pwmDisableMotors();
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3); pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3);
pwmEnableMotors();
} }
#endif #endif