From f50ed9f76352f24c3f31b0ea3aa60dea8373c700 Mon Sep 17 00:00:00 2001
From: Bryce Johnson <bryce@raspberrywood.com>
Date: Sun, 1 Apr 2018 21:36:27 -0500
Subject: [PATCH] Change crashflip to normal on disarm (#5594)

---
 src/main/fc/fc_core.c | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 7b656dc13..c9ebd1640 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -289,6 +289,17 @@ void disarm(void)
         }
 #endif
         BEEP_OFF;
+#ifdef USE_DSHOT
+        if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && !feature(FEATURE_3D)) {
+            flipOverAfterCrashMode = false;
+            if (!feature(FEATURE_3D)) {
+                pwmDisableMotors();
+                delay(1);
+                pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL);
+                pwmEnableMotors();
+            }
+        }
+#endif
         // if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead
         if (!(getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)) {
             beeper(BEEPER_DISARMING);      // emit disarm tone