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AP_HAL_ChibiOS: fix dshot150.

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Andy Piper 2021-04-03 09:31:58 +01:00 committed by Andrew Tridgell
parent f6b1e15b0e
commit 721850d00a
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -143,8 +143,8 @@ void RCOutput::rcout_thread()
uint32_t cal_cycles = 5000000UL / 300UL; uint32_t cal_cycles = 5000000UL / 300UL;
_dshot_calibrating = true; _dshot_calibrating = true;
const uint32_t cycle_time_us = _dshot_period_us; const uint32_t cycle_time_us = _dshot_period_us;
// while calibrating run at 3Khz to allow arming // while calibrating run at 2.5Khz to allow arming, this is the fastest rate that dshot150 can manage
_dshot_period_us = 300; _dshot_period_us = 400;
// prime the pump for calibration // prime the pump for calibration
chEvtSignal(rcout_thread_ctx, EVT_PWM_SYNTHETIC_SEND); chEvtSignal(rcout_thread_ctx, EVT_PWM_SYNTHETIC_SEND);