Merge pull request #704 from blckmn/pwm_abort

stop all PWM on all motors on soft reset

src/main/flight/mixer.c

@@ -666,9 +666,10 @@ void stopMotors(void)
     delay(50); // give the timers and ESCs a chance to react.
 }
 
-void StopPwmAllMotors()
+void stopPwmAllMotors()
 {
     pwmShutdownPulsesForAllMotors(motorCount);
+    delayMicroseconds(1500);
 }
 
 #ifndef USE_QUAD_MIXER_ONLY

src/main/flight/mixer.h

@@ -215,4 +215,4 @@ void mixTable(void);
 void syncMotors(bool enabled);
 void writeMotors(void);
 void stopMotors(void);
-void StopPwmAllMotors(void);
+void stopPwmAllMotors(void);

src/main/io/serial_cli.c

@@ -2574,7 +2574,7 @@ static void cliRebootEx(bool bootLoader)
     cliPrint("\r\nRebooting");
     bufWriterFlush(cliWriter);
     waitForSerialPortToFinishTransmitting(cliPort);
-    stopMotors();
+    stopPwmAllMotors();
     if (bootLoader) {
         systemResetToBootloader();
         return;

src/main/io/serial_msp.c

@@ -1967,7 +1967,7 @@ void mspProcess(void)
 
         if (isRebootScheduled) {
             waitForSerialPortToFinishTransmitting(candidatePort->port);
-            stopMotors();
+            stopPwmAllMotors();
             // On real flight controllers, systemReset() will do a soft reset of the device,
             // reloading the program.  But to support offline testing this flag needs to be
             // cleared so that the software doesn't continuously attempt to reboot itself.

src/main/main.c

@@ -335,12 +335,6 @@ void init(void)
 
     mixerUsePWMOutputConfiguration(pwmOutputConfiguration, use_unsyncedPwm);
 
-/*
-    // TODO is this needed here? enables at the end
-    if (!feature(FEATURE_ONESHOT125))
-        motorControlEnable = true;
-
-*/
     systemState |= SYSTEM_STATE_MOTORS_READY;
 
 #ifdef BEEPER