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Only reset motor directon on disarming when crash flip mode was active

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Previous logic always reset the motor direction if the crash flip mode was configured.
This commit is contained in:
Bruce Luckcuck 2018-06-13 16:41:27 -04:00
parent 11d8171c36
commit 3e706224c9
1 changed files with 4 additions and 5 deletions
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9
src/main/fc/fc_core.c
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@ -329,13 +329,12 @@ void disarm(void)
#endif
BEEP_OFF;
#ifdef USE_DSHOT
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && !feature(FEATURE_3D)) {
flipOverAfterCrashMode = false;
if (!feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
if (isMotorProtocolDshot() && flipOverAfterCrashMode && !feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
#endif
flipOverAfterCrashMode = false;
// if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead
if (!(getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)) {
beeper(BEEPER_DISARMING); // emit disarm tone