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Code Issues Wiki Activity

Telemetry switch enable without arming bugfix

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This commit is contained in:
U-possi\David 2015-05-18 23:21:33 +02:00
parent 3037a91b06
commit e033dc1156
1 changed files with 18 additions and 20 deletions
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38
src/main/mw.c
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@ -318,14 +318,6 @@ void mwDisarm(void)
if (ARMING_FLAG(ARMED)) {
DISABLE_ARMING_FLAG(ARMED);
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
// the telemetry state must be checked immediately so that shared serial ports are released.
checkTelemetryState();
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
#endif
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
finishBlackbox();
@ -348,18 +340,6 @@ void mwArm(void)
ENABLE_ARMING_FLAG(ARMED);
headFreeModeHold = heading;
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
while (sharedPort) {
mspReleasePortIfAllocated(sharedPort);
sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
}
}
#endif
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
@ -678,6 +658,24 @@ void processRx(void)
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!masterConfig.telemetryConfig.telemetry_switch && ARMING_FLAG(ARMED)) ||
(masterConfig.telemetryConfig.telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {
serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
while (sharedPort) {
mspReleasePortIfAllocated(sharedPort);
sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
}
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
checkTelemetryState();
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
}
void loop(void)