Copter: fixed ESC calibration for DShot

7 years ago · 1ffe75957e
2 changed files with 2 additions and 2 deletions
--- a/ArduCopter/esc_calibration.cpp
+++ b/ArduCopter/esc_calibration.cpp
@ -18,7 +18,7 @@ enum ESCCalibrationModes {
 // check if we should enter esc calibration mode
 void Copter::esc_calibration_startup_check()
 {
-    if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_BRUSHED) {
+    if (motors->get_pwm_type() == AP_Motors::PWM_TYPE_BRUSHED) {
        // ESC cal not valid for brushed motors
        return;
    }
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@ -638,7 +638,7 @@ void Copter::allocate_motors(void)
    }
    // brushed 16kHz defaults to 16kHz pulses
-    if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_BRUSHED) {
+    if (motors->get_pwm_type() == AP_Motors::PWM_TYPE_BRUSHED) {
        g.rc_speed.set_default(16000);
    }