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Turtle mode issue fix #6845

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merged 1 commit into from
Apr 18, 2021
Merged

Turtle mode issue fix #6845

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29 changes: 15 additions & 14 deletions src/main/fc/fc_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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() ||
Expand All @@ -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
Expand Down