DSHOT sending 0048 on forward after reverse

[pitts-mo]

Current Behavior

INAV rover is sending a dshot signal 0048 burst when RC input transitions from neutral to forward after being in reverse.

Note: This does not happen on initial transition to forward from neutral or on attempts to transition to forward from neutral when the prior non neutral command was forward.

Steps to Reproduce

count, DShot Data, action
6561, 0000, 1 -Armed neutral
76, 1048, 2 -transition forward
3, 1050, increase forward
3, 1054, increase forward
~
3, 1056, decrease forward
22, 1048, decrease forward
54, 0000, 3 -transition neutral
3, 0107, 4 -transition reverse
3, 0114, increase reverse
~
3, 0134, decrease reverse
3, 0116, decrease reverse
11362, 0000, 5 -transition neutral
41, 0048, 6 -transition forward -this value should not be sent
3, 1052, increase forward
3, 1061, increase forward

Expected behavior

The first non zero command when transitioning from neutral to forward should be >=1048.

Suggested solution(s)

mixer bug?

Additional context

INAV_8.0.0_cli_MAXX_20250126_084307.txt

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INAV/MATEKF722MINI 8.0.0 Jan 21 2025 / 16:18:25 (ec2106a)