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Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT (#12685)

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* Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT
F4 can't handle 8K PID loop

* Fix missing cfg_pms.version

* Limit G4 to 4K PID rate as per F4
This commit is contained in:
Steve Evans 2023-04-19 12:05:46 +01:00 • committed by GitHub
parent fea097a893
commit e8126dd6dd
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GPG key ID: 4AEE18F83AFDEB23
16 changed files with 143 additions and 95 deletions
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2
src/main/drivers/dshot_command.c
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@ -218,7 +218,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
#ifdef USE_DSHOT_TELEMETRY
timeUs_t timeoutUs = micros() + 1000;
while (!motorGetVTable().updateStart() &&
while (!motorGetVTable().decodeTelemetry() &&
cmpTimeUs(timeoutUs, micros()) > 0);
#endif
for (uint8_t i = 0; i < motorDeviceCount(); i++) {