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Let the motor test drive DSHOT motors below the configured idle #11908

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Let the motor test drive DSHOT motors below the configured idle #11908

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6 changes: 5 additions & 1 deletion src/main/flight/mixer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -546,9 +546,13 @@ void FAST_CODE writeMotors(void)
}
}
else {
// While disarmed only the mixer stop value means motor off, so the
// motor test can drive a motor below the configured idle. Armed
// behaviour is unchanged: there the configured idle stays the
// threshold, so failsafe and turtle mode are not affected.
motorValue = handleOutputScaling(
motor[i],
throttleIdleValue,
ARMING_FLAG(ARMED) ? throttleIdleValue : (motorZeroCommand + 1),
DSHOT_DISARM_COMMAND,
motorConfig()->mincommand,
getMaxThrottle(),
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