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Code Issues Releases Activity

LP-479 Set lowest acceptable dshot rate to 150khz to avoid possible division by zero and unreasonably slow rates.

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This commit is contained in:
Vladimir Zidar 2017-04-26 16:57:38 +02:00
parent 50fce728f8
commit ce3cba9d40
2 changed files with 5 additions and 1 deletions
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4
flight/pios/common/pios_servo.c
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@ -215,6 +215,10 @@ extern void PIOS_Servo_Enable()
void PIOS_Servo_DSHot_Rate(uint32_t rate_in_khz)
{
if (rate_in_khz < 150) {
rate_in_khz = 150;
}
uint32_t raw_hz = PIOS_DELAY_GetRawHz();
uint32_t tmp = raw_hz / rate_in_khz;

2
shared/uavobjectdefinition/actuatorsettings.xml
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@ -3,7 +3,7 @@
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,PWMSync,OneShot125,OneShot42,MultiShot,DShot" defaultvalue="PWM"/>
<field name="DShotMode" units="kHz" type="uint16" elements="1" defaultvalue="600"/>
<field name="DShotMode" units="kHz" type="uint16" elements="1" defaultvalue="600" limits="%BE:150:1200"/>
<field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>