Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

New turtle mode that only spins needed props

Browse source
This commit is contained in:
Bryce Johnson 2017-08-18 17:00:24 -05:00
parent 4948415560
commit fd37566bc5
5 changed files with 49 additions and 9 deletions
Download patch file Download diff file Expand all files Collapse all files

16
src/main/fc/fc_core.c
View file

@ -109,6 +109,8 @@ int16_t magHold;
int16_t headFreeModeHold;
static bool reverseMotors = false;
static bool flipOverAfterCrashMode = false;
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
bool isRXDataNew;
@ -261,14 +263,14 @@ void tryArm(void)
return;
}
#ifdef USE_DSHOT
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXDSHOTREVERSE)) {
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
pwmDisableMotors();
if (!IS_RC_MODE_ACTIVE(BOXDSHOTREVERSE)) {
reverseMotors = false;
if (!IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
flipOverAfterCrashMode = false;
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL);
} else {
reverseMotors = true;
flipOverAfterCrashMode = true;
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
@ -723,7 +725,11 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
}
}
bool isMotorsReversed()
bool isMotorsReversed(void)
{
return reverseMotors;
}
bool isFlipOverAfterCrashMode(void)
{
return flipOverAfterCrashMode;
}