From 3127e910be4d9f83967eec9a35c7f50a9038b6e8 Mon Sep 17 00:00:00 2001
From: ot0tot <36753790+ot0tot@users.noreply.github.com>
Date: Mon, 3 Feb 2025 22:00:03 -0500
Subject: [PATCH] Send 0 value (#3126)

---
 src/lib/ServoOutput/DShotRMT.cpp | 21 +++++++++++++--------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/src/lib/ServoOutput/DShotRMT.cpp b/src/lib/ServoOutput/DShotRMT.cpp
index 55d89e55..c7b7fdcb 100644
--- a/src/lib/ServoOutput/DShotRMT.cpp
+++ b/src/lib/ServoOutput/DShotRMT.cpp
@@ -102,17 +102,22 @@ bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional) {
 // ...the config part is done, now the calculating and sending part
 void DShotRMT::send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request) {
 	dshot_packet_t dshot_rmt_packet = { };
+	
+	if (throttle_value == 0) {
+		dshot_rmt_packet.throttle_value = 0;
+	} else {
+		if (throttle_value < DSHOT_THROTTLE_MIN) {
+			throttle_value = DSHOT_THROTTLE_MIN;
+		}
 
-	if (throttle_value < DSHOT_THROTTLE_MIN) {
-		throttle_value = DSHOT_THROTTLE_MIN;
-	}
+		if (throttle_value > DSHOT_THROTTLE_MAX) {
+			throttle_value = DSHOT_THROTTLE_MAX;
+		}
 
-	if (throttle_value > DSHOT_THROTTLE_MAX) {
-		throttle_value = DSHOT_THROTTLE_MAX;
+		// ...packets are the same for bidirectional mode
+		dshot_rmt_packet.throttle_value = throttle_value;
 	}
-
-	// ...packets are the same for bidirectional mode
-	dshot_rmt_packet.throttle_value = throttle_value;
+	
 	dshot_rmt_packet.telemetric_request = telemetric_request;
 	dshot_rmt_packet.checksum = this->calc_dshot_chksum(dshot_rmt_packet);
 
-- 
2.11.4.GIT