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Fixed Dshot command sending to all motors.

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This commit is contained in:
mikeller 2017-08-23 01:52:49 +12:00
parent cda31ef88a
commit 91ffa4b88c
7 changed files with 39 additions and 36 deletions
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8
src/main/fc/fc_core.c
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@ -264,14 +264,10 @@ void tryArm(void)
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXDSHOTREVERSE)) {
if (!IS_RC_MODE_ACTIVE(BOXDSHOTREVERSE)) {
reverseMotors = false;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL);
} else {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
#endif