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Refactored Dshot reverse condition block.

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This commit is contained in:
mikeller 2017-06-25 21:18:39 +12:00
parent b77b866c2d
commit 7bd05b2148
1 changed files with 15 additions and 13 deletions
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28
src/main/fc/fc_core.c
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@ -206,21 +206,23 @@ void mwArm(void)
return;
}
if (!ARMING_FLAG(PREVENT_ARMING)) {
#ifdef USE_DSHOT
//TODO: Use BOXDSHOTREVERSE here
if (!feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = false;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
#ifdef USE_DSHOT
if (!feature(FEATURE_3D)) {
//TODO: Use BOXDSHOTREVERSE here
if (!IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = false;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}
} else {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
}
if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
#endif
#endif
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);