From 72cd09bd87b51e4781efa7a61bcb3f32c5721922 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Fri, 9 Jan 2026 20:54:10 -0900
Subject: [PATCH] fix handling MAV_CMD_CONFIGURE_ACTUATOR -1000

---
 src/drivers/dshot/DShot.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
index 9fbb8fa855..72edca059e 100644
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -765,7 +765,10 @@ void DShot::handle_configure_actuator(const vehicle_command_s &command)
 {
 	int function = (int)(command.param5 + 0.5);
 
-	PX4_INFO("Received VEHICLE_CMD_CONFIGURE_ACTUATOR");
+	if (function > 1000) {
+		// NOTE: backwards compatibility for QGC - 1101=Motor1, 1102=Motor2, etc
+		function -= 1000;
+	}
 
 	int motor_index = -1;