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Code Issues Wiki Activity

Nicer DSHOT MSP handling

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borisbstyle 2016-10-23 00:53:32 +02:00
parent 32ec29ccce
commit f19b508cd4
1 changed files with 4 additions and 1 deletions
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5
src/main/fc/fc_msp.c
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@ -649,7 +649,10 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#endif
case MSP_MOTOR:
for (unsigned i = 0; i < 8; i++) {
sbufWriteU16(dst, i < MAX_SUPPORTED_MOTORS ? constrain(motor[i], 1, 2047) : 0); // TODO - Fix 0 handling in the configurator. This is just a workaround
if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT150 || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT600)
sbufWriteU16(dst, i < MAX_SUPPORTED_MOTORS ? constrain((motor[i] / 2) + 1000, 1000, 2000) : 0); // This is to get it working in the configurator
else
sbufWriteU16(dst, i < MAX_SUPPORTED_MOTORS ? motor[i] : 0);
}
break;
case MSP_RC: