Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-21 07:15:16 +03:00
Code Issues Wiki Activity

Turtle mode bugfix

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

29
src/main/fc/fc_core.c
View file

@ -497,20 +497,6 @@ void tryArm(void)
{ {
updateArmingStatus(); 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 #ifdef USE_PROGRAMMING_FRAMEWORK
if ( if (
!isArmingDisabled() || !isArmingDisabled() ||
@ -527,6 +513,21 @@ void tryArm(void)
return; 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 defined(USE_NAV)
// If nav_extra_arming_safety was bypassed we always // If nav_extra_arming_safety was bypassed we always
// allow bypassing it even without the sticks set // allow bypassing it even without the sticks set