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Don't start motor with high throttle in the mid of the stick #1

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Don't start motor with high throttle in the mid of the stick #1

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2305491
Don't start motor with high throttle in the mid of the stick
yajo10 Jan 3, 2022
7a5eedb
Only fix reversible motors on dshot protocol
yajo10 Jan 15, 2022
de0b3e2
Fix failing builds: check for DSHOT protocol at compile time and at r…
yajo10 Jan 15, 2022
87bebf4
Fix code style: align compiler directives to left
yajo10 Jan 19, 2022
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11 changes: 11 additions & 0 deletions src/main/flight/mixer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -540,6 +540,17 @@ void FAST_CODE mixTable()

motorValueWhenStopped = getReversibleMotorsThrottleDeadband();
mixerThrottleCommand = constrain(rcCommand[THROTTLE], throttleRangeMin, throttleRangeMax);

#ifdef USE_DSHOT
if(isMotorProtocolDigital() && feature(FEATURE_REVERSIBLE_MOTORS) && reversibleMotorsThrottleState == MOTOR_DIRECTION_BACKWARD) {
/*
* We need to start the throttle output from stick input to start in the middle of the stick at the low and.
* Without this, it's starting at the high side.
*/
int throttleDistanceToMax = throttleRangeMax - rcCommand[THROTTLE];
mixerThrottleCommand = throttleRangeMin + throttleDistanceToMax;
}
#endif
} else {
mixerThrottleCommand = rcCommand[THROTTLE];
throttleRangeMin = throttleIdleValue;
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