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Prevent DSHOT commands during protocol initialization/detection

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Adds a fixed delay after the motors are enabled before DSHOT commands can be sent. Fixes a problem caused by sending DSHOT commands too soon and prevent the ESC from properly detecting the protocol.
This commit is contained in:
Bruce Luckcuck 2019-09-21 17:24:33 -04:00
parent 031a21b9fc
commit 5a9ce05ec0
5 changed files with 35 additions and 2 deletions
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9
src/main/fc/core.c
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@ -220,7 +220,14 @@ void updateArmingStatus(void)
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 ((getArmingDisableFlags() & ARMING_DISABLED_BOOT_GRACE_TIME) && (millis() >= systemConfig()->powerOnArmingGraceTime * 1000)
#ifdef USE_DSHOT
// We also need to prevent arming until it's possible to send DSHOT commands.
// Otherwise if the initial arming is in crash-flip the motor direction commands
// might not be sent.
&& dshotCommandsAreEnabled()
#endif
) {
// If so, unset the grace time arming disable flag
unsetArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
}