From e3fecd96d59ca737f8fb240a37cfbeaae458621f Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Tue, 10 Jun 2025 00:26:17 -0800
Subject: [PATCH] dshot: fix scaling (#25001)

---
 platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
index 22e9fda161..48e12dd8f7 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
@@ -553,7 +553,7 @@ void process_capture_results(uint8_t timer_index, uint8_t channel_index)
 
 	} else {
 		// Convert the period to eRPM
-		_erpms[output_channel] = (1000000 * 60) / period;
+		_erpms[output_channel] = (1000000 * 60 / 100 + period / 2) / period;
 	}
 
 	// We set it ready anyway, not to hold up other channels when used in round robin.