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Ensure that crash flip behaviour is consistent on every arm attempt (#14410)

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Steve Evans 2025-05-28 05:59:45 +01:00 • committed by GitHub
parent e74b362341
commit 66e19f9e27
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1 changed files with 2 additions and 12 deletions
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14
src/main/fc/core.c
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@ -558,18 +558,8 @@ void tryArm(void)
}
#endif
// choose crashflip outcome on arming
// disarm can arise in processRx() if the crashflip switch is reversed while in crashflip mode
// if we were unsuccessful, or cannot determin success, arming will be blocked and we can't get here
// hence we only get here with crashFlipModeActive if the switch was reversed and result successful
if (crashFlipModeActive) {
// flip was successful, continue into normal flight without need to disarm/rearm
// note: preceding disarm will have set motors to normal rotation direction
crashFlipModeActive = false;
} else {
// when arming and not in crashflip mode, block entry to crashflip if delayed by the dshot beeper,
// otherwise consider only the switch position
crashFlipModeActive = (tryingToArm == ARMING_DELAYED_CRASHFLIP) ? false : IS_RC_MODE_ACTIVE(BOXCRASHFLIP);
}
// consider only the switch position
crashFlipModeActive = IS_RC_MODE_ACTIVE(BOXCRASHFLIP);
setMotorSpinDirection(crashFlipModeActive ? DSHOT_CMD_SPIN_DIRECTION_REVERSED : DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}