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Merge pull request #3351 from mikeller/improve_dshot_reverse_condition 

Refactored Dshot reverse condition block.
This commit is contained in:
Michael Keller 2017-06-26 01:03:11 +12:00 committed by GitHub
parent c96973ea49 7bd05b2148
commit 582af3d515
1 changed files with 15 additions and 13 deletions
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28
src/main/fc/fc_core.c
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@ -206,21 +206,23 @@ void mwArm(void)
return; return;
} }
if (!ARMING_FLAG(PREVENT_ARMING)) { if (!ARMING_FLAG(PREVENT_ARMING)) {
#ifdef USE_DSHOT #ifdef USE_DSHOT
//TODO: Use BOXDSHOTREVERSE here if (!feature(FEATURE_3D)) {
if (!feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) { //TODO: Use BOXDSHOTREVERSE here
reverseMotors = false; if (!IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
for (unsigned index = 0; index < getMotorCount(); index++) { reverseMotors = false;
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL); for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}
} else {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
} }
} }
if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) { #endif
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
#endif
ENABLE_ARMING_FLAG(ARMED); ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED); ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);