From 77dc19e9d94c5b0e12209a3ef87c5161dd80c54b Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 2 Jun 2016 10:38:33 +0200
Subject: [PATCH 1/3] Fix Fast PWM synced update for non ONESHOT125

---
 src/main/flight/mixer.c | 6 +++---
 src/main/flight/mixer.h | 2 +-
 src/main/mw.c           | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index abf8e27832..100aeb62f8 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -633,7 +633,7 @@ void writeServos(void)
 }
 #endif
 
-void writeMotors(uint8_t unsyncedPwm)
+void writeMotors(uint8_t fastPwmProtocol, uint8_t unsyncedPwm)
 {
     uint8_t i;
 
@@ -641,7 +641,7 @@ void writeMotors(uint8_t unsyncedPwm)
         pwmWriteMotor(i, motor[i]);
 
 
-    if (feature(FEATURE_ONESHOT125) && !unsyncedPwm) {
+    if (fastPwmProtocol && !unsyncedPwm) {
         pwmCompleteOneshotMotorUpdate(motorCount);
     }
 }
@@ -653,7 +653,7 @@ void writeAllMotors(int16_t mc)
     // Sends commands to all motors
     for (i = 0; i < motorCount; i++)
         motor[i] = mc;
-    writeMotors(1);
+    writeMotors(1,1);
 }
 
 void stopMotors(void)
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 8ebd0fd22a..8ccd45cb37 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -213,6 +213,6 @@ int servoDirection(int servoIndex, int fromChannel);
 #endif
 void mixerResetDisarmedMotors(void);
 void mixTable(void);
-void writeMotors(uint8_t unsyncedPwm);
+void writeMotors(uint8_t fastPwmProtocol, uint8_t unsyncedPwm);
 void stopMotors(void);
 void StopPwmAllMotors(void);
diff --git a/src/main/mw.c b/src/main/mw.c
index cc515485b4..f5865a27b4 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -742,7 +742,7 @@ void subTaskMotorUpdate(void)
 #endif
 
     if (motorControlEnable) {
-        writeMotors(masterConfig.use_unsyncedPwm);
+        writeMotors(masterConfig.fast_pwm_protocol, masterConfig.use_unsyncedPwm);
     }
     if (debugMode == DEBUG_PIDLOOP) {debug[3] = micros() - startTime;}
 }

From 09f5c858175de70ac0b543da9258c0b51380882f Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 2 Jun 2016 10:41:31 +0200
Subject: [PATCH 2/3] Default Anti Desync

---
 src/main/config/config.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 88fd490592..af15469eb1 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -237,7 +237,7 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
     escAndServoConfig->maxthrottle = 1850;
     escAndServoConfig->mincommand = 1000;
     escAndServoConfig->servoCenterPulse = 1500;
-    escAndServoConfig->escDesyncProtection = 0;
+    escAndServoConfig->escDesyncProtection = 10000;
 }
 
 void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)

From 6c8a8614fc89d471070e704b85c3eed5498708bf Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 2 Jun 2016 11:06:03 +0200
Subject: [PATCH 3/3] Rate limiter

---
 src/main/flight/pid.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index d0c38f086a..99cc25ae06 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -80,14 +80,14 @@ float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) {
 
     if (isSuperExpoActive()) {
         float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
-        rcFactor = 1.0f / (1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)));
+        rcFactor = constrainf(1.0f / (1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f))), 0.01f, 1.00f);
 
         angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f);
     } else {
         angleRate = (float)((controlRateConfig->rates[axis] + 27) * rcCommand[axis]) / 16.0f;
     }
 
-	return angleRate;
+	return constrainf(angleRate, -8190, 8290); // Rate limit protection
 }
 
 uint16_t getDynamicKp(int axis, const pidProfile_t *pidProfile) {