From 5c2931e9ec84ae3cad7a8a4be1e1ed36a0de822e Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis <mark@numloq.nl>
Date: Wed, 30 Sep 2020 14:24:22 +0200
Subject: [PATCH] Fix Dshot range

---
 src/main/drivers/dshot.c | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/drivers/dshot.c b/src/main/drivers/dshot.c
index 039447ae8a..54ab1d77aa 100644
--- a/src/main/drivers/dshot.c
+++ b/src/main/drivers/dshot.c
@@ -65,7 +65,7 @@ void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, flo
 
 float dshotConvertFromExternal(uint16_t externalValue)
 {
-    uint16_t motorValue;
+    float motorValue;
 
     externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
 
@@ -73,15 +73,15 @@ float dshotConvertFromExternal(uint16_t externalValue)
         if (externalValue == PWM_RANGE_MIDDLE) {
             motorValue = DSHOT_CMD_MOTOR_STOP;
         } else if (externalValue < PWM_RANGE_MIDDLE) {
-            motorValue = scaleRange(externalValue, PWM_RANGE_MIN, PWM_RANGE_MIDDLE - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE);
+            motorValue = scaleRangef(externalValue, PWM_RANGE_MIN, PWM_RANGE_MIDDLE - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE);
         } else {
-            motorValue = scaleRange(externalValue, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
+            motorValue = scaleRangef(externalValue, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
         }
     } else {
-        motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
+        motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRangef(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
     }
 
-    return (float)motorValue;
+    return motorValue;
 }
 
 uint16_t dshotConvertToExternal(float motorValue)
@@ -92,12 +92,12 @@ uint16_t dshotConvertToExternal(float motorValue)
         if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) {
             externalValue = PWM_RANGE_MIDDLE;
         } else if (motorValue <= DSHOT_3D_FORWARD_MIN_THROTTLE - 1) {
-            externalValue = scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MIDDLE - 1, PWM_RANGE_MIN);
+            externalValue = scaleRangef(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MIDDLE - 1, PWM_RANGE_MIN);
         } else {
-            externalValue = scaleRange(motorValue, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX);
+            externalValue = scaleRangef(motorValue, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX);
         }
     } else {
-        externalValue = (motorValue < DSHOT_MIN_THROTTLE) ? PWM_RANGE_MIN : scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIN + 1, PWM_RANGE_MAX);
+        externalValue = (motorValue < DSHOT_MIN_THROTTLE) ? PWM_RANGE_MIN : scaleRangef(motorValue, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIN + 1, PWM_RANGE_MAX);
     }
 
     return externalValue;