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Add guard time between dshot beacon and arming/disarming

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Tries to prevent DSHOT beacon commands from interfering with commands to set the motor direction.

Adds a 2 second delay after disarming before DSHOT beacon commands will be sent. This attempts to prevent the beacon commands from interfering with the motor direction reset that happens after using crash flip mode.

During arming if a DSHOT beacon command has been sent within 2 seconds the arming will be delayed until the 2 seconds have passed. This attempts to prevent interference with the motor direction commands sent at arming.
This commit is contained in:
Bruce Luckcuck 2018-06-09 18:44:37 -04:00
parent 504b1479fb
commit 1e6e9e719f
6 changed files with 62 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

7
src/main/fc/rc_controls.c
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@ -179,6 +179,7 @@ void processRcStickPositions()
// Arming via ARM BOX
tryArm();
} else {
resetTryingToArm();
// Disarming via ARM BOX
resetArmingDisabled();
if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
@ -192,6 +193,7 @@ void processRcStickPositions()
if (rcDelayMs >= ARM_DELAY_MS && !doNotRepeat) {
doNotRepeat = true;
// Disarm on throttle down + yaw
resetTryingToArm();
if (ARMING_FLAG(ARMED))
disarm();
else {
@ -214,11 +216,16 @@ void processRcStickPositions()
if (!ARMING_FLAG(ARMED)) {
// Arm via YAW
tryArm();
if (isTryingToArm()) {
doNotRepeat = false;
}
} else {
resetArmingDisabled();
}
}
return;
} else {
resetTryingToArm();
}
if (ARMING_FLAG(ARMED) || doNotRepeat || rcDelayMs <= STICK_DELAY_MS || (getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)) {