{"action":"created","comment":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/comments/84910537","pull_request_review_id":5657430,"id":84910537,"diff_hunk":"@@ -976,3 +970,26 @@ void filterServos(void)\n #endif\n }\n \n+uint16_t pwmToMotor(uint16_t pwm)\n+{\n+    uint16_t motor = pwm;\n+#ifdef USE_DSHOT\n+    if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT150 || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT600) {\n+        motor = pwm == 1000 ? 0 : constrain((pwm - 977) * 2, 48, 2047);","path":"src/main/flight/mixer.c","position":33,"original_position":33,"commit_id":"1b41e396b2f0232da794d13477f0dc682929f87b","original_commit_id":"1b41e396b2f0232da794d13477f0dc682929f87b","user":{"login":"AndersHoglund","id":15121917,"avatar_url":"https://avatars.githubusercontent.com/u/15121917?v=3","gravatar_id":"","url":"https://api.github.com/users/AndersHoglund","html_url":"https://github.com/AndersHoglund","followers_url":"https://api.github.com/users/AndersHoglund/followers","following_url":"https://api.github.com/users/AndersHoglund/following{/other_user}","gists_url":"https://api.github.com/users/AndersHoglund/gists{/gist_id}","starred_url":"https://api.github.com/users/AndersHoglund/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/AndersHoglund/subscriptions","organizations_url":"https://api.github.com/users/AndersHoglund/orgs","repos_url":"https://api.github.com/users/AndersHoglund/repos","events_url":"https://api.github.com/users/AndersHoglund/events{/privacy}","received_events_url":"https://api.github.com/users/AndersHoglund/received_events","type":"User","site_admin":false},"body":"Too strict check on exactly 1000. \r\nIf this is changed to \"motor = pwm <= 1000 ? ....\" it will solve the 1001 minimum bar value. \r\n\r\nFrankly I do not like those hard coded constants, as all/many/afew are really configurable items like min:_command etc. But I do not have any good/better/less ugly solution either. Like \"977\", what does that refer to ?  \r\n","created_at":"2016-10-25T14:06:53Z","updated_at":"2016-10-25T14:10:16Z","html_url":"https://github.com/betaflight/betaflight/pull/1389#discussion_r84910537","pull_request_url":"https://api.github.com/repos/betaflight/betaflight/pulls/1389","_links":{"self":{"href":"https://api.github.com/repos/betaflight/betaflight/pulls/comments/84910537"},"html":{"href":"https://github.com/betaflight/betaflight/pull/1389#discussion_r84910537"},"pull_request":{"href":"https://api.github.com/repos/betaflight/betaflight/pulls/1389"}}},"pull_request":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/1389","id":90715288,"html_url":"https://github.com/betaflight/betaflight/pull/1389","diff_url":"https://github.com/betaflight/betaflight/pull/1389.diff","patch_url":"https://github.com/betaflight/betaflight/pull/1389.patch","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/1389","number":1389,"state":"open","locked":false,"title":"Fixed motor value translation to / 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