diff --git a/src/main/main.c b/src/main/main.c index 549cd9058a..b3f01f9e64 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -180,11 +180,16 @@ void init(void) #ifdef BEEPER beeperConfig_t beeperConfig = { - .gpioMode = Mode_Out_OD, .gpioPin = BEEP_PIN, .gpioPort = BEEP_GPIO, .gpioPeripheral = BEEP_PERIPHERAL, +#ifdef BEEPER_INVERTED + .gpioMode = Mode_Out_PP, + .isInverted = true +#else + .gpioMode = Mode_Out_OD, .isInverted = false +#endif }; #ifdef NAZE if (hardwareRevision >= NAZE32_REV5) { @@ -273,6 +278,7 @@ void init(void) LED0_OFF; LED1_OFF; + imuInit(); mixerInit(masterConfig.mixerMode, masterConfig.customMixer); diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h index 7e63241e49..d50d9ce2ed 100644 --- a/src/main/target/SPRACINGF3/target.h +++ b/src/main/target/SPRACINGF3/target.h @@ -26,6 +26,7 @@ #define BEEP_GPIO GPIOC #define BEEP_PIN Pin_15 #define BEEP_PERIPHERAL RCC_AHBPeriph_GPIOC +#define BEEPER_INVERTED #define USABLE_TIMER_CHANNEL_COUNT 17