Merge pull request #6845 from kernel-machine/turtle-mode-bugfix

Turtle mode issue fix
iNavFlight · Apr 18, 2021 · 7f04e0f · 7f04e0f
2 parents 2a3ef6e + fa9184b
commit 7f04e0f
Showing 1 changed file with 15 additions and 14 deletions.
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
@@ -497,20 +497,6 @@ void tryArm(void)
 {
     updateArmingStatus();
 
-#ifdef USE_DSHOT
-    if (
-            STATE(MULTIROTOR) &&
-            IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) &&
-            emergencyArmingCanOverrideArmingDisabled() &&
-            isMotorProtocolDshot() &&
-            !FLIGHT_MODE(FLIP_OVER_AFTER_CRASH)
-            ) {
-        sendDShotCommand(DSHOT_CMD_SPIN_DIRECTION_REVERSED);
-        ENABLE_ARMING_FLAG(ARMED);
-        enableFlightMode(FLIP_OVER_AFTER_CRASH);
-        return;
-    }
-#endif
 #ifdef USE_PROGRAMMING_FRAMEWORK
     if (
         !isArmingDisabled() || 
@@ -527,6 +513,21 @@ void tryArm(void)
             return;
         }
 
+#ifdef USE_DSHOT
+        if (
+                STATE(MULTIROTOR) &&
+                IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) &&
+                emergencyArmingCanOverrideArmingDisabled() &&
+                isMotorProtocolDshot() &&
+                !FLIGHT_MODE(FLIP_OVER_AFTER_CRASH)
+                ) {
+            sendDShotCommand(DSHOT_CMD_SPIN_DIRECTION_REVERSED);
+            ENABLE_ARMING_FLAG(ARMED);
+            enableFlightMode(FLIP_OVER_AFTER_CRASH);
+            return;
+        }
+#endif
+
 #if defined(USE_NAV)
         // If nav_extra_arming_safety was bypassed we always
         // allow bypassing it even without the sticks set