From 1ddfd9817df2202b5ef217439cb8c8fc677d368e Mon Sep 17 00:00:00 2001
From: Andrey Mironov <diehertz@gmail.com>
Date: Wed, 25 Jul 2018 11:37:27 +0300
Subject: [PATCH] Moved cortex header to translation unit, added stopMotors

---
 src/main/drivers/system_stm32f7xx.c | 2 ++
 src/main/fc/fc_hardfaults.c         | 6 ++++++
 src/main/platform.h                 | 1 -
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/main/drivers/system_stm32f7xx.c b/src/main/drivers/system_stm32f7xx.c
index b978f9c68..41c6eb2bc 100644
--- a/src/main/drivers/system_stm32f7xx.c
+++ b/src/main/drivers/system_stm32f7xx.c
@@ -30,6 +30,8 @@
 #include "drivers/nvic.h"
 #include "drivers/system.h"
 
+#include "stm32f7xx_ll_cortex.h"
+
 
 #define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
 void SystemClock_Config(void);
diff --git a/src/main/fc/fc_hardfaults.c b/src/main/fc/fc_hardfaults.c
index d0163d7e5..e575c4a2e 100644
--- a/src/main/fc/fc_hardfaults.c
+++ b/src/main/fc/fc_hardfaults.c
@@ -36,6 +36,12 @@ void MemManage_Handler(void)
 {
     LED2_ON;
 
+    // fall out of the sky
+    uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
+    if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
+        stopMotors();
+    }
+
 #ifdef USE_TRANSPONDER
     // prevent IR LEDs from burning out.
     uint8_t requiredStateForTransponder = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_TRANSPONDER_ENABLED;
diff --git a/src/main/platform.h b/src/main/platform.h
index b7e89232e..000d0b9bc 100644
--- a/src/main/platform.h
+++ b/src/main/platform.h
@@ -31,7 +31,6 @@
 #include "stm32f7xx_hal.h"
 #include "system_stm32f7xx.h"
 
-#include "stm32f7xx_ll_cortex.h"
 #include "stm32f7xx_ll_spi.h"
 #include "stm32f7xx_ll_gpio.h"
 #include "stm32f7xx_ll_dma.h"