From 96d2bdbb126bdce666e580ac96b02b3514797970 Mon Sep 17 00:00:00 2001
From: cTn <ctndesigner@gmail.com>
Date: Thu, 6 Mar 2014 18:52:18 +0100
Subject: [PATCH] only enforce mincommand if necessary

---
 js/gui.js | 38 ++++++++++++++++++++++++++++----------
 1 file changed, 28 insertions(+), 10 deletions(-)

diff --git a/js/gui.js b/js/gui.js
index 81ed87c8..c5db096a 100644
--- a/js/gui.js
+++ b/js/gui.js
@@ -216,17 +216,35 @@ GUI_control.prototype.tab_switch_cleanup = function(callback) {
         case 'motor_outputs':
             GUI.interval_remove('motor_poll');
             
-            // send data to mcu
-            var buffer_out = [];
-            
-            for (var i = 0; i < 8; i++) {
-                buffer_out.push(lowByte(MISC.mincommand));
-                buffer_out.push(highByte(MISC.mincommand));
-            }
-            
-            send_message(MSP_codes.MSP_SET_MOTOR, buffer_out, false, function() {
+            // only enforce mincommand if necessary
+            if (MOTOR_DATA != undefined) {
+                var update = false;
+                
+                for (var i = 0; i < MOTOR_DATA.length; i++) {
+                    if (MOTOR_DATA[i] > MISC.mincommand) {
+                        update = true;
+                        break;
+                    }
+                }
+                
+                if (update) {
+                    // send data to mcu
+                    var buffer_out = [];
+                    
+                    for (var i = 0; i < 8; i++) {
+                        buffer_out.push(lowByte(MISC.mincommand));
+                        buffer_out.push(highByte(MISC.mincommand));
+                    }
+
+                    send_message(MSP_codes.MSP_SET_MOTOR, buffer_out, false, function() {
+                        if (callback) callback();
+                    });
+                } else {
+                    if (callback) callback();
+                }
+            } else {
                 if (callback) callback();
-            });
+            }
             break;
         case 'sensors':
             GUI.interval_kill_all(['port_usage']);