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Keep sending DShot 0 packets between beacon commands (#12544)

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* Keep sending DShot zero between beacon commands

And don't wait 100ms between inline commands, which the beacon commands are.

* use cmpTimeUs for time comparisons

* Fixed intervals between DShot beacons

* fix indentnation, thanks KarateBrot
This commit is contained in:
ctzsnooze 2023-03-22 00:41:45 +11:00 • committed by GitHub
parent 26708ea425
commit d9775287a2
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4 changed files with 13 additions and 8 deletions
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2
src/main/fc/core.c
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@ -495,7 +495,7 @@ void tryArm(void)
const timeUs_t currentTimeUs = micros();
#ifdef USE_DSHOT
if (currentTimeUs - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) {
if (cmpTimeUs(currentTimeUs, getLastDshotBeaconCommandTimeUs()) < DSHOT_BEACON_GUARD_DELAY_US) {
if (tryingToArm == ARMING_DELAYED_DISARMED) {
if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
tryingToArm = ARMING_DELAYED_CRASHFLIP;