Merge pull request #7714 from yajo10/fix_reversible_esc_wrong_speed

Reversible ESC's for rovers: Don't start motor with high throttle in the mid of the stick

Author: DzikuVx

src/main/flight/mixer.c

@@ -540,6 +540,17 @@ void FAST_CODE mixTable()
 
         motorValueWhenStopped = getReversibleMotorsThrottleDeadband();
         mixerThrottleCommand = constrain(rcCommand[THROTTLE], throttleRangeMin, throttleRangeMax);
+
+#ifdef USE_DSHOT
+        if(isMotorProtocolDigital() && feature(FEATURE_REVERSIBLE_MOTORS) && reversibleMotorsThrottleState == MOTOR_DIRECTION_BACKWARD) {
+            /*
+             * We need to start the throttle output from stick input to start in the middle of the stick at the low and.
+             * Without this, it's starting at the high side.
+             */
+            int throttleDistanceToMax = throttleRangeMax - rcCommand[THROTTLE];
+            mixerThrottleCommand = throttleRangeMin + throttleDistanceToMax;
+        }
+#endif
     } else {
         mixerThrottleCommand = rcCommand[THROTTLE];
         throttleRangeMin = throttleIdleValue;