From af2a575460c8bb7c699c56a3ddd1886d453e96b6 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Fri, 28 Oct 2016 16:21:03 +0200
Subject: [PATCH] Document 3D for DSHOT and special values

---
 src/main/flight/mixer.c |  4 ++--
 src/main/flight/mixer.h | 22 ++++++++++++++++++++--
 2 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index a4e5ec37ef..aea7b68adc 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -256,8 +256,8 @@ void initEscEndpoints(void) {
         disarmMotorOutput = DSHOT_DISARM_COMMAND;
         minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
         maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
-        deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH;
-        deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
+	    deadbandMotor3dHigh = DSHOT_3D_MIN_NEGATIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
+	    deadbandMotor3dLow = DSHOT_3D_MAX_POSITIVE;  // TODO - Not working yet !! Mixer requires some throttle rescaling changes
     } else
 #endif
     {
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 8798361050..b329128b80 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -21,12 +21,30 @@
 
 #define QUAD_MOTOR_COUNT 4
 
+/*
+  DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
+  0 = stop
+  1-5: beep
+  6: ESC info request (FW Version and SN sent over the tlm wire)
+  7: spin direction 1
+  8: spin direction 2
+  9: 3d mode off
+  10: 3d mode on
+  11: ESC settings request (saved settings over the TLM wire)
+  12: save Settings
+
+  3D Mode:
+  0 = stop
+  48   (low) - 1047 (high) -> positive direction
+  1048 (low) - 2047 (high) -> negative direction
+*/
+
 // Digital protocol has fixed values
 #define DSHOT_DISARM_COMMAND      0
 #define DSHOT_MIN_THROTTLE       48
 #define DSHOT_MAX_THROTTLE     2047
-#define DSHOT_3D_DEADBAND_LOW   900  // TODO - not agreed yet
-#define DSHOT_3D_DEADBAND_HIGH 1100  // TODO - not agreed yet
+#define DSHOT_3D_MAX_POSITIVE  1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
+#define DSHOT_3D_MIN_NEGATIVE  1048//  TODO - Not working yet!! Mixer requires some throttle rescaling changes
 
 // Note: this is called MultiType/MULTITYPE_* in baseflight.
 typedef enum mixerMode