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Merge pull request #6525 from etracer65/beacon_delayed_arming_state 

Capture and use crash flip if set initially when arming is delayed due to beacon
This commit is contained in:
Michael Keller 2018-08-08 22:59:41 +12:00 committed by GitHub
parent efb340f4c6 3dae764b0e
commit 946cbd257f
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 16 additions and 5 deletions
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21
src/main/fc/fc_core.c
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@ -98,6 +98,11 @@ enum {
ALIGN_MAG = 2 ALIGN_MAG = 2
}; };
enum {
ARMING_DELAYED_DISARMED = 0,
ARMING_DELAYED_NORMAL = 1,
ARMING_DELAYED_CRASHFLIP = 2
};
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync #define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
@ -130,7 +135,7 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
bool isRXDataNew; bool isRXDataNew;
static int lastArmingDisabledReason = 0; static int lastArmingDisabledReason = 0;
static timeUs_t lastDisarmTimeUs; static timeUs_t lastDisarmTimeUs;
static bool tryingToArm; static int tryingToArm = ARMING_DELAYED_DISARMED;
#ifdef USE_RUNAWAY_TAKEOFF #ifdef USE_RUNAWAY_TAKEOFF
static timeUs_t runawayTakeoffDeactivateUs = 0; static timeUs_t runawayTakeoffDeactivateUs = 0;
@ -335,11 +340,17 @@ void tryArm(void)
} }
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (micros() - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) { if (micros() - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) {
tryingToArm = true; if (tryingToArm == ARMING_DELAYED_DISARMED) {
if (isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
tryingToArm = ARMING_DELAYED_CRASHFLIP;
} else {
tryingToArm = ARMING_DELAYED_NORMAL;
}
}
return; return;
} }
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) { if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
if (!IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) { if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashMode = false; flipOverAfterCrashMode = false;
if (!feature(FEATURE_3D)) { if (!feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false); pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
@ -1025,10 +1036,10 @@ timeUs_t getLastDisarmTimeUs(void)
bool isTryingToArm() bool isTryingToArm()
{ {
return tryingToArm; return (tryingToArm != ARMING_DELAYED_DISARMED);
} }
void resetTryingToArm() void resetTryingToArm()
{ {
tryingToArm = false; tryingToArm = ARMING_DELAYED_DISARMED;
} }