static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
if (!processRx(currentTimeUs)) {
return;
}
static timeUs_t lastRxTimeUs;
currentRxRefreshRate = constrain(currentTimeUs - lastRxTimeUs, 1000, 30000);
lastRxTimeUs = currentTimeUs;
isRXDataNew = true;
#ifdef USE_USB_CDC_HID
if (!ARMING_FLAG(ARMED)) {
sendRcDataToHid();
}
#endif
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
updateArmingStatus();
}
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
processRx(currentTimeUs);
isRXDataNew = true;
#if !defined(BARO) && !defined(SONAR)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
#endif
updateArmingStatus();
#ifdef BARO
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
#endif
#ifdef SONAR
if (sensors(SENSOR_SONAR)) {
updateSonarAltHoldState();
}
#endif
}
void tryArm(void)
{
if (armingConfig()->gyro_cal_on_first_arm) {
gyroStartCalibration(true);
}
updateArmingStatus();
if (!isArmingDisabled()) {
if (ARMING_FLAG(ARMED)) {
return;
}
#ifdef USE_DSHOT
if (micros() - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) {
if (tryingToArm == ARMING_DELAYED_DISARMED) {
if (isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
tryingToArm = ARMING_DELAYED_CRASHFLIP;
} else {
tryingToArm = ARMING_DELAYED_NORMAL;
}
}
return;
}
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashMode = false;
if (!feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
} else {
flipOverAfterCrashMode = true;
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffCheckDisabled = false;
#endif
if (!feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
}
}
}
#endif
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
resetTryingToArm();
#ifdef USE_ACRO_TRAINER
pidAcroTrainerInit();
#endif // USE_ACRO_TRAINER
if (isModeActivationConditionPresent(BOXPREARM)) {
ENABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
imuQuaternionHeadfreeOffsetSet();
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
lastArmingDisabledReason = 0;
//beep to indicate arming
#ifdef USE_GPS
if (feature(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
beeper(BEEPER_ARMING_GPS_FIX);
} else {
beeper(BEEPER_ARMING);
}
#else
beeper(BEEPER_ARMING);
#endif
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffDeactivateUs = 0;
runawayTakeoffAccumulatedUs = 0;
runawayTakeoffTriggerUs = 0;
#endif
} else {
resetTryingToArm();
if (!isFirstArmingGyroCalibrationRunning()) {
int armingDisabledReason = ffs(getArmingDisableFlags());
if (lastArmingDisabledReason != armingDisabledReason) {
lastArmingDisabledReason = armingDisabledReason;
beeperWarningBeeps(armingDisabledReason);
}
}
}
}