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Added blocked dshot commands, Added post command delay

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Moved the dshotcommand to happen in pwm_output_dshot.
Simplified the timing and repeats to happen on a group basis instead works better for dshotburst
This commit is contained in:
Bryce Johnson 2018-04-17 21:48:16 -06:00 • committed by Michael Keller
parent f37a8184d5
commit 0045b36320
8 changed files with 131 additions and 42 deletions
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14
src/main/fc/fc_core.c
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@ -329,10 +329,7 @@ void disarm(void)
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && !feature(FEATURE_3D)) {
flipOverAfterCrashMode = false;
if (!feature(FEATURE_3D)) {
pwmDisableMotors();
delay(1);
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL);
pwmEnableMotors();
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
}
#endif
@ -357,13 +354,10 @@ void tryArm(void)
}
#ifdef USE_DSHOT
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
pwmDisableMotors();
delay(1);
if (!IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
flipOverAfterCrashMode = false;
if (!feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL);
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
} else {
flipOverAfterCrashMode = true;
@ -371,11 +365,9 @@ void tryArm(void)
runawayTakeoffCheckDisabled = false;
#endif
if (!feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED);
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
}
}
pwmEnableMotors();
}
#endif