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AP_HAL_ChibiOS: reversible DShot fix

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Co-authored-by: Andy Piper <github@andypiper.com>
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Randy Mackay 2022-03-22 20:05:22 +09:00 committed by Andrew Tridgell
parent 86899b279f
commit 43beccd86c
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1404,7 +1404,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
pwm = constrain_int16(pwm, 1000, 2000); pwm = constrain_int16(pwm, 1000, 2000);
uint16_t value = MIN(2 * (pwm - 1000), 1999); uint16_t value = MIN(2 * (pwm - 1000), 1999);
if (chan_mask & (_reversible_mask>>chan_offset)) { if ((chan_mask & _reversible_mask) != 0) {
// this is a DShot-3D output, map so that 1500 PWM is zero throttle reversed // this is a DShot-3D output, map so that 1500 PWM is zero throttle reversed
if (value < 1000) { if (value < 1000) {
value = 1999 - value; value = 1999 - value;