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Only wait for ESC to recognise DSHOT signal once at startup (#14408)

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* Only wait for ESC to recognise DSHOT signal once at startup

* Use cmpTimeMs to compare time expressed in ms
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Steve Evans 2025-05-27 18:02:24 +01:00 • committed by GitHub
parent 77ceea93e4
commit dd0a37b41c
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2 changed files with 15 additions and 1 deletions
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15
src/main/drivers/dshot_command.c
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@ -149,7 +149,20 @@ static bool allMotorsAreIdle(void)
bool dshotStreamingCommandsAreEnabled(void)
{
return motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS;
static bool firstCommand = true;
bool goodMotorDetectDelay;
if (firstCommand) {
goodMotorDetectDelay = motorGetMotorEnableTimeMs() && (cmpTimeMs(millis(), motorGetMotorEnableTimeMs()) > DSHOT_PROTOCOL_DETECTION_DELAY_MS);
if (goodMotorDetectDelay) {
firstCommand = false;
}
} else {
goodMotorDetectDelay = true;
}
return motorIsEnabled() && goodMotorDetectDelay;
}
static bool dshotCommandsAreEnabled(dshotCommandType_e commandType)