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…s 20/21 Replaces the ESC-config approach of iNavFlight#12011. A uint16 bitmask in motorConfig tells each DShot ESC to spin normal (20) or reversed (21). The command queue now carries one command per motor so one frame addresses all ESCs at once. The ESC does not store these commands, so they are re-sent on every arm ahead of the first throttle frame, when the setting changes, and every two seconds while disarmed. Turtle mode inverts relative to the configured mask and disarm restores the mask instead of broadcasting "normal". All-zero mask sends nothing, so existing setups behave as before. PG_MOTOR_CONFIG bumped to 12 for the new field.
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RAM / Flash usage vs. base branch — commit
See RAM/flash optimization guide for techniques to reduce usage. |
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Fork-internal build check for the upstream PR.