From 721850d00a03d7a69f6f2e179ac0eb2dfe8255ca Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 3 Apr 2021 09:31:58 +0100 Subject: [PATCH] AP_HAL_ChibiOS: fix dshot150. --- libraries/AP_HAL_ChibiOS/RCOutput.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp index 8bc5c8b6228..02b3bf36ebd 100644 --- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp +++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp @@ -143,8 +143,8 @@ void RCOutput::rcout_thread() uint32_t cal_cycles = 5000000UL / 300UL; _dshot_calibrating = true; const uint32_t cycle_time_us = _dshot_period_us; - // while calibrating run at 3Khz to allow arming - _dshot_period_us = 300; + // while calibrating run at 2.5Khz to allow arming, this is the fastest rate that dshot150 can manage + _dshot_period_us = 400; // prime the pump for calibration chEvtSignal(rcout_thread_ctx, EVT_PWM_SYNTHETIC_SEND);