From 2c7970a9ed68792c343837524517dd1cf50363de Mon Sep 17 00:00:00 2001
From: jflyper <shinoda@jaist.ac.jp>
Date: Fri, 30 Jun 2017 14:33:35 +0900
Subject: [PATCH] Revive visual indication of gyro detection failure

---
 src/main/drivers/system.c | 9 +++++++--
 src/main/drivers/system.h | 1 +
 src/main/fc/fc_init.c     | 3 ++-
 3 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/system.c b/src/main/drivers/system.c
index eee2069d21..b27a917d9d 100644
--- a/src/main/drivers/system.c
+++ b/src/main/drivers/system.c
@@ -164,9 +164,8 @@ void delay(uint32_t ms)
 #define SHORT_FLASH_DURATION 50
 #define CODE_FLASH_DURATION 250
 
-void failureMode(failureMode_e mode)
+void failureLedCode(failureMode_e mode, int codeRepeatsRemaining)
 {
-    int codeRepeatsRemaining = 10;
     int codeFlashesRemaining;
     int shortFlashesRemaining;
 
@@ -201,6 +200,12 @@ void failureMode(failureMode_e mode)
         delay(1000);
     }
 
+}
+
+void failureMode(failureMode_e mode)
+{
+    failureLedCode(mode, 10);
+
 #ifdef DEBUG
     systemReset();
 #else
diff --git a/src/main/drivers/system.h b/src/main/drivers/system.h
index b898c99010..4a5b83535d 100644
--- a/src/main/drivers/system.h
+++ b/src/main/drivers/system.h
@@ -33,6 +33,7 @@ typedef enum {
 } failureMode_e;
 
 // failure
+void failureLedCode(failureMode_e mode, int repeatCount);
 void failureMode(failureMode_e mode);
 
 // bootloader/IAP
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 06e74a50be..7a4bb09c38 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -478,7 +478,8 @@ void init(void)
     initBoardAlignment(boardAlignment());
 
     if (!sensorsAutodetect()) {
-        // if gyro was not detected due to whatever reason, don't arm.
+        // if gyro was not detected due to whatever reason, notify and don't arm.
+        failureLedCode(FAILURE_MISSING_ACC, 2);
         setArmingDisabled(ARMING_DISABLED_NO_GYRO);
     }