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Remove blheli bug workaround

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This commit is contained in:
borisbstyle 2015-09-02 13:53:08 +02:00
parent b457b16227
commit 1b18d7aa14
1 changed files with 2 additions and 8 deletions
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10
src/main/mw.c
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@ -740,14 +740,8 @@ bool runLoop(uint32_t loopTime) {
bool loopTrigger = false;
if (masterConfig.syncGyroToLoop) {
if (ARMING_FLAG(ARMED)) {
if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
loopTrigger = true;
}
}
// Blheli arming workaround (stable looptime prior to arming)
else if (!ARMING_FLAG(ARMED) && ((int32_t)(currentTime - loopTime) >= 0)) {
loopTrigger = true;
if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
loopTrigger = true;
}
}