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Code Issues Wiki Activity

Change crashflip to normal on disarm (#5594)

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Bryce Johnson 2018-04-01 21:36:27 -05:00 • committed by Michael Keller
parent db81dbe103
commit f50ed9f763
1 changed files with 11 additions and 0 deletions
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11
src/main/fc/fc_core.c
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@ -289,6 +289,17 @@ void disarm(void)
}
#endif
BEEP_OFF;
#ifdef USE_DSHOT
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && !feature(FEATURE_3D)) {
flipOverAfterCrashMode = false;
if (!feature(FEATURE_3D)) {
pwmDisableMotors();
delay(1);
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL);
pwmEnableMotors();
}
}
#endif
// if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead
if (!(getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)) {
beeper(BEEPER_DISARMING); // emit disarm tone