Inhibit Dshot motor beeping while motors are running (armed or motor test).

src/main/blackbox/blackbox.c

@@ -925,25 +925,8 @@ void stopInTestMode(void)
  */
 bool inMotorTestMode(void) {
     static uint32_t resetTime = 0;
-    uint16_t inactiveMotorCommand;
-    if (feature(FEATURE_3D)) {
-       inactiveMotorCommand = flight3DConfig()->neutral3d;
-#ifdef USE_DSHOT
-    } else if (isMotorProtocolDshot()) {
-       inactiveMotorCommand = DSHOT_DISARM_COMMAND;
-#endif
-    } else {
-       inactiveMotorCommand = motorConfig()->mincommand;
-    }
 
-    int i;
-    bool atLeastOneMotorActivated = false;
-
-    // set disarmed motor values
-    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
-        atLeastOneMotorActivated |= (motor_disarmed[i] != inactiveMotorCommand);
-
-    if (atLeastOneMotorActivated) {
+    if (!ARMING_FLAG(ARMED) && areMotorsRunning()) {
         resetTime = millis() + 5000; // add 5 seconds
         return true;
     } else {

src/main/flight/mixer.c

@@ -316,16 +316,34 @@ static float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
 float motorOutputHigh, motorOutputLow;
 static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
 
-uint8_t getMotorCount()
+uint8_t getMotorCount(void)
 {
     return motorCount;
 }
 
-float getMotorMixRange()
+float getMotorMixRange(void)
 {
     return motorMixRange;
 }
 
+bool areMotorsRunning(void)
+{
+    bool motorsRunning = false;
+    if (ARMING_FLAG(ARMED)) {
+        motorsRunning = true;
+    } else {
+        for (int i = 0; i < motorCount; i++) {
+            if (motor_disarmed[i] != disarmMotorOutput) {
+                motorsRunning = true;
+
+                break;
+            }
+        }
+    }
+
+    return motorsRunning;
+}
+
 bool mixerIsOutputSaturated(int axis, float errorRate)
 {
     if (axis == FD_YAW && (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI)) {

src/main/flight/mixer.h

@@ -107,8 +107,9 @@ extern float motor[MAX_SUPPORTED_MOTORS];
 extern float motor_disarmed[MAX_SUPPORTED_MOTORS];
 struct rxConfig_s;
 
-uint8_t getMotorCount();
-float getMotorMixRange();
+uint8_t getMotorCount(void);
+float getMotorMixRange(void);
+bool areMotorsRunning(void);
 bool mixerIsOutputSaturated(int axis, float errorRate);
 
 void mixerLoadMix(int index, motorMixer_t *customMixers);

src/main/io/beeper.c

@@ -363,7 +363,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
     }
 
     #ifdef USE_DSHOT
-    if (!ARMING_FLAG(ARMED) && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) {
+    if (!areMotorsRunning() && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) {
         pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3);
     }
     #endif

src/test/unit/blackbox_unittest.cc

@@ -376,7 +376,8 @@ uint32_t rcModeActivationMask;
 void mspSerialAllocatePorts(void) {}
 uint32_t getArmingBeepTimeMicros(void) {return 0;}
 uint16_t getBatteryVoltageLatest(void) {return 0;}
-uint8_t getMotorCount() {return 4;}
+uint8_t getMotorCount(void) {return 4;}
+bool areMotorsRunning(void) { return false; }
 bool IS_RC_MODE_ACTIVE(boxId_e) {return false;}
 bool isModeActivationConditionPresent(boxId_e) {return false;}
 uint32_t millis(void) {return 0;}