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Turtle mode bugfix

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This commit is contained in:
luca 2021-04-17 17:54:52 +02:00
parent 2a3ef6e219
commit fa9184bc13
1 changed files with 15 additions and 14 deletions
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29
src/main/fc/fc_core.c
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@ -497,20 +497,6 @@ void tryArm(void)
{
updateArmingStatus();
#ifdef USE_DSHOT
if (
STATE(MULTIROTOR) &&
IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) &&
emergencyArmingCanOverrideArmingDisabled() &&
isMotorProtocolDshot() &&
!FLIGHT_MODE(FLIP_OVER_AFTER_CRASH)
) {
sendDShotCommand(DSHOT_CMD_SPIN_DIRECTION_REVERSED);
ENABLE_ARMING_FLAG(ARMED);
enableFlightMode(FLIP_OVER_AFTER_CRASH);
return;
}
#endif
#ifdef USE_PROGRAMMING_FRAMEWORK
if (
!isArmingDisabled() ||
@ -527,6 +513,21 @@ void tryArm(void)
return;
}
#ifdef USE_DSHOT
if (
STATE(MULTIROTOR) &&
IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) &&
emergencyArmingCanOverrideArmingDisabled() &&
isMotorProtocolDshot() &&
!FLIGHT_MODE(FLIP_OVER_AFTER_CRASH)
) {
sendDShotCommand(DSHOT_CMD_SPIN_DIRECTION_REVERSED);
ENABLE_ARMING_FLAG(ARMED);
enableFlightMode(FLIP_OVER_AFTER_CRASH);
return;
}
#endif
#if defined(USE_NAV)
// If nav_extra_arming_safety was bypassed we always
// allow bypassing it even without the sticks set