Fixes #13934: Fix motor(PWM protocol) spin while fc reset. #13937
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Do you want to test this code? You can flash it directly from Betaflight Configurator:
WARNING: It may be unstable. Use only for testing! |
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| #include "pg/motor.h" | |||
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| #ifndef PWM_SHUTDOWN_DELAY | |||
| #define PWM_SHUTDOWN_DELAY 600 | |||
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This interval may be too short. You need at least 2ms for standard PWM pulse ( just for pulse to end, PWM interval may be 20ms)
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I tested a few more values: 200ms, 300ms, 490ms, none of these values can fix the problem. But value greater than or equal to 500ms can fix the issue.
The reason is after 500ms low level, ESC will in disarm state (ESC determine signal loss), in disarm state any signal interference will not considered valid. ESC need receive initialization sequence to re-enter arm state again.
So value greater or equal 500ms is OK.
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sorry, i confused us and ms.
.6 s is noticeable time, but esc disarm is reasonable strategy. Maybe delay can be moved outside of this function (there is already delay after shutdown call). I'll look into it
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I think it's ok to move delay to motorShutdown, but's not all protocols require such a long delay.
The delay value can be set based on the ESC protocol currently in use.
We are on holiday now, I'll change and test it later.
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You can return minimum guard time before reboot from motorDevice->vTable.shutdown();. Then extend delay in motorShutdown(); if necessary.
…etaflight#13937) * Fix motor(PWM protocol) spin while fc reset. * move delay out to motorShutdown
Fixes #13934
Tested targets: SPEEDYBEEF405V4, SPEEDYBEEF405AIO and ARGUSF7AIO.
Before change, the PWM output may in high level while reset:
After add delay, PWM output keep zero duty before fc reset:
