Fix min check // Restore brushed motor support

src/main/io/serial_cli.c

@@ -559,7 +559,7 @@ const clivalue_t valueTable[] = {
 #ifdef CC3D
     { "enable_buzzer_p6",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
 #endif
-    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 300,  5000 } },
+    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 300,  32000 } },
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servo_pwm_rate, .config.minmax = { 50,  498 } },
 
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },

src/main/main.c

@@ -668,7 +668,7 @@ int main(void) {
     setTaskEnabled(TASK_GYROPID, true);
 
     setTaskEnabled(TASK_MOTOR, true);
-    rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
+    rescheduleTask(TASK_MOTOR, constrain(lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000), 250, 3500));
 
     if(sensors(SENSOR_ACC)) {
         setTaskEnabled(TASK_ACCEL, true);

src/main/mw.c

@@ -270,8 +270,13 @@ void annexCode(void)
             rcCommand[axis] = -rcCommand[axis];
     }
 
+    if (isUsingSticksForArming()) {
+        tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
+        tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
+    } else {
         tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
         tmp = (uint32_t)(tmp - PWM_RANGE_MIN) * PWM_RANGE_MIN / (PWM_RANGE_MAX - PWM_RANGE_MIN);       // [MINCHECK;2000] -> [0;1000]
+    }
     tmp2 = tmp / 100;
     rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;    // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
 

src/main/scheduler.h

@@ -80,6 +80,11 @@ typedef enum {
     TASK_TRANSPONDER,
 #endif
 
+#ifdef USE_BST
+    TASK_BST_READ_WRITE,
+    TASK_BST_MASTER_PROCESS,
+#endif
+
     /* Count of real tasks */
     TASK_COUNT,
 

src/main/scheduler_tasks.c

@@ -40,6 +40,10 @@ void taskTelemetry(void);
 void taskLedStrip(void);
 void taskTransponder(void);
 void taskSystem(void);
+#ifdef USE_BST
+void taskBstReadWrite(void);
+void taskBstMasterProcess(void);
+#endif
 
 cfTask_t cfTasks[TASK_COUNT] = {
     [TASK_SYSTEM] = {
@@ -182,4 +186,20 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_IDLE,
     },
 #endif
+
+#ifdef USE_BST
+    [TASK_BST_READ_WRITE] = {
+        .taskName = "BST_MASTER_WRITE",
+        .taskFunc = taskBstReadWrite,
+        .desiredPeriod = 1000000 / 100,         // 100 Hz
+        .staticPriority = TASK_PRIORITY_IDLE,
+    },
+
+    [TASK_BST_MASTER_PROCESS] = {
+        .taskName = "BST_MASTER_PROCESS",
+        .taskFunc = taskBstMasterProcess,
+        .desiredPeriod = 1000000 / 50,          // 50 Hz
+        .staticPriority = TASK_PRIORITY_IDLE,
+    },
+#endif
 };