HAL_ChibiOS: enable DShot on G4

libraries/AP_HAL_ChibiOS/RCOutput.cpp

@@ -1333,7 +1333,9 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
     stm32_cacheBufferFlush(group.dma_buffer, buffer_length);
     dmaStreamSetMemory0(group.dma, group.dma_buffer);
     dmaStreamSetTransactionSize(group.dma, buffer_length/sizeof(uint32_t));
+#ifdef STM32_DMA_FCR_FTH_FULL
     dmaStreamSetFIFO(group.dma, STM32_DMA_FCR_DMDIS | STM32_DMA_FCR_FTH_FULL);
+#endif
     dmaStreamSetMode(group.dma,
                      STM32_DMA_CR_CHSEL(group.dma_up_channel) |
                      STM32_DMA_CR_DIR_M2P | STM32_DMA_CR_PSIZE_WORD | STM32_DMA_CR_MSIZE_WORD |

libraries/AP_HAL_ChibiOS/RCOutput.h

@@ -24,7 +24,7 @@
 
 #if HAL_USE_PWM == TRUE
 
-#if !STM32_DMA_ADVANCED
+#if !STM32_DMA_ADVANCED && !defined(STM32G4)
 #define DISABLE_DSHOT
 #endif