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Changed 'pwmWriteDshotCommand' to use switch for better readability.

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This commit is contained in:
mikeller 2017-06-16 01:43:08 +12:00
parent f37847bdda
commit 7c14c49701
4 changed files with 20 additions and 8 deletions
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5
src/main/fc/fc_core.c
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@ -207,16 +207,17 @@ void mwArm(void)
}
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_ROTATE_NORMAL);
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}
}
if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_ROTATE_REVERSE);
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
#endif