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Code Issues Wiki Activity

Fix esc init

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Fixing #4257
This commit is contained in:
jirif 2017-10-10 16:08:51 +02:00
parent a4040caebd
commit e1c6458ee6
1 changed files with 33 additions and 30 deletions
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63
src/main/fc/fc_init.c
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@ -376,6 +376,23 @@ void init(void)
serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
mixerInit(mixerConfig()->mixerMode);
mixerConfigureOutput();
uint16_t idlePulse = motorConfig()->mincommand;
if (feature(FEATURE_3D)) {
idlePulse = flight3DConfig()->neutral3d;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
idlePulse = 0; // brushed motors
}
/* Motors needs to be initialized soon as posible because hardware initialization
* may send spurious pulses to esc's causing their early initialization. Also ppm
* receiver may share timer with motors so motors MUST be initialized here. */
motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
systemState |= SYSTEM_STATE_MOTORS_READY;
if (0) {}
#if defined(USE_PPM)
else if (feature(FEATURE_RX_PPM)) {
@ -485,6 +502,22 @@ void init(void)
systemState |= SYSTEM_STATE_SENSORS_READY;
// gyro.targetLooptime set in sensorsAutodetect(),
// so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
validateAndFixGyroConfig();
pidInit(currentPidProfile);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
#ifdef USE_SERVOS
servosInit();
servoConfigureOutput();
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
servoDevInit(&servoConfig()->dev);
}
servosFilterInit();
#endif
LED1_ON;
LED0_OFF;
LED2_OFF;
@ -500,36 +533,6 @@ void init(void)
LED0_OFF;
LED1_OFF;
// gyro.targetLooptime set in sensorsAutodetect(),
// so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
validateAndFixGyroConfig();
pidInit(currentPidProfile);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
mixerInit(mixerConfig()->mixerMode);
uint16_t idlePulse = motorConfig()->mincommand;
if (feature(FEATURE_3D)) {
idlePulse = flight3DConfig()->neutral3d;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
idlePulse = 0; // brushed motors
}
mixerConfigureOutput();
motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef USE_SERVOS
servosInit();
servoConfigureOutput();
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
servoDevInit(&servoConfig()->dev);
}
servosFilterInit();
#endif
imuInit();
mspInit();