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Code Issues Wiki Activity

Cleaned up Dshot defines.

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This commit is contained in:
mikeller 2018-12-25 00:55:26 +13:00
parent 2e49cb1ba7
commit c684547984
3 changed files with 6 additions and 7 deletions
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8
src/main/flight/mixer.c
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@ -375,7 +375,7 @@ void initEscEndpoints(void)
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
disarmMotorOutput = DSHOT_DISARM_COMMAND;
disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
} else {
@ -941,14 +941,14 @@ float convertExternalToMotor(uint16_t externalValue)
if (featureIsEnabled(FEATURE_3D)) {
if (externalValue == PWM_RANGE_MID) {
motorValue = DSHOT_DISARM_COMMAND;
motorValue = DSHOT_CMD_MOTOR_STOP;
} else if (externalValue < PWM_RANGE_MID) {
motorValue = scaleRange(externalValue, PWM_RANGE_MIN, PWM_RANGE_MID - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE);
} else {
motorValue = scaleRange(externalValue, PWM_RANGE_MID + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
}
} else {
motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_DISARM_COMMAND : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
}
break;
@ -969,7 +969,7 @@ uint16_t convertMotorToExternal(float motorValue)
#ifdef USE_DSHOT
case true:
if (featureIsEnabled(FEATURE_3D)) {
if (motorValue == DSHOT_DISARM_COMMAND || motorValue < DSHOT_MIN_THROTTLE) {
if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) {
externalValue = PWM_RANGE_MID;
} else if (motorValue <= DSHOT_3D_FORWARD_MIN_THROTTLE - 1) {
externalValue = scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MID - 1, PWM_RANGE_MIN);