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Add configurable boot grace time

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This guards against the case when the RX takes longer to obtain a valid
link than the gyro takes to calibrate (previously this delay is all that
stopped immediate arming).
This commit is contained in:
Dan Nixon 2017-08-13 13:17:25 +01:00
parent fd51cda9eb
commit 0c0483d020
8 changed files with 48 additions and 22 deletions
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6
src/main/fc/fc_core.c
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@ -152,6 +152,12 @@ void updateArmingStatus(void)
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
// Check if the power on arming grace time has elapsed
if ((getArmingDisableFlags() & ARMING_DISABLED_BOOT_GRACE_TIME) && (millis() >= systemConfig()->powerOnArmingGraceTime * 1000)) {
// If so, unset the grace time arming disable flag
unsetArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
}
if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
setArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
} else {