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Always stop motor PWM prior to soft restart

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This commit is contained in:
ProDrone 2015-05-21 16:02:49 +02:00
parent 655bd574c2
commit d1d73d933e
1 changed files with 4 additions and 2 deletions
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6
src/main/config/config.c
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@ -940,9 +940,11 @@ void changeControlRateProfile(uint8_t profileIndex)
void handleOneshotFeatureChangeOnRestart(void) void handleOneshotFeatureChangeOnRestart(void)
{ {
// When OneShot125 feature changed state, shutdown PWM on all motors and apply a delay before // Shutdown PWM on all motors prior to soft restart
if ((masterConfig.enabledFeatures ^ activeFeaturesLatch) & FEATURE_ONESHOT125) {
StopPwmAllMotors(); StopPwmAllMotors();
delay(50);
// When OneShot125 feature changed state apply additional delay
if ((masterConfig.enabledFeatures ^ activeFeaturesLatch) & FEATURE_ONESHOT125) {
delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS); delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
} }
} }