From b0352135bb5085de33550d4c58b5f893567c53fd Mon Sep 17 00:00:00 2001
From: Charles Cross <charles@missionrobotics.us>
Date: Tue, 22 Feb 2022 08:58:21 -0800
Subject: [PATCH] Restores Dshot trigger condition and adds dynamic mixing
 condition

---
 src/drivers/dshot/DShot.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
index 60446ff8dd..da702025aa 100644
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -478,7 +478,9 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 		_current_command.clear();
 	}
 
-	up_dshot_trigger();
+	if (stop_motors || num_control_groups_updated > 0 || _mixing_output.useDynamicMixing()) {
+		up_dshot_trigger();
+	}
 
 	return true;
 }