Added delay before sending Dshot commands to avoid read errors.

src/main/fc/cli.c

@@ -2456,6 +2456,7 @@ static void cliDshotProg(char *cmdline)
     char *pch = strtok_r(cmdline, " ", &saveptr);
     int pos = 0;
     int escIndex = 0;
+    bool firstCommand = true;
     while (pch != NULL) {
         switch (pos) {
         case 0:
@@ -2466,12 +2467,19 @@ static void cliDshotProg(char *cmdline)
 
             break;
         default:
-            pwmDisableMotors();
+            {
-
                 int command = atoi(pch);
                 if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
+                    if (firstCommand) {
+                        pwmDisableMotors();
+
                         if (command == DSHOT_CMD_ESC_INFO) {
                             delay(5); // Wait for potential ESC telemetry transmission to finish
+                        } else {
+                            delay(1);
+                        }
+
+                        firstCommand = false;
                     }
 
                     if (command != DSHOT_CMD_ESC_INFO) {
@@ -2494,6 +2502,7 @@ static void cliDshotProg(char *cmdline)
                 } else {
                     cliPrintLinef("Invalid command, range 1 to %d.", DSHOT_MIN_THROTTLE - 1);
                 }
+            }
 
             break;
         }

src/main/fc/fc_core.c

@@ -265,6 +265,7 @@ void tryArm(void)
 #ifdef USE_DSHOT
         if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
             pwmDisableMotors();
+            delay(1);
 
             if (!IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
                 flipOverAfterCrashMode = false;

src/main/io/beeper.c

@@ -365,6 +365,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
     #ifdef USE_DSHOT
     if (!areMotorsRunning() && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) {
         pwmDisableMotors();
+        delay(1);
 
         pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3);