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Revert "Copter: skip esc calibration startup check for DSHOT ESCs"

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This reverts commit fab4b5e65b.
This commit is contained in:
Andy Piper
2026-03-06 11:36:19 +09:00
committed by Randy Mackay
parent 12068ad310
commit ff0448a9cd
1 changed files with 6 additions and 10 deletions
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ArduCopter/esc_calibration.cpp
+6 -10
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@@ -9,13 +9,8 @@
// check if we should enter esc calibration mode
void Copter::esc_calibration_startup_check()
{
if (g.esc_calibrate == ESCCalibrationModes::ESCCAL_DISABLED) {
// esc calibration disabled
return;
}
if (motors->is_brushed_pwm_type() || motors->is_digital_pwm_type()) {
// ESC cal not valid for brushed motors or DSHOT ESCs
if (motors->is_brushed_pwm_type()) {
// ESC cal not valid for brushed motors
return;
}
@@ -30,7 +25,7 @@ void Copter::esc_calibration_startup_check()
// exit immediately if pre-arm rc checks fail
if (!arming.rc_calibration_checks(true)) {
// clear esc flag for next time
if ((g.esc_calibrate != ESCCalibrationModes::ESCCAL_NONE)) {
if ((g.esc_calibrate != ESCCalibrationModes::ESCCAL_NONE) && (g.esc_calibrate != ESCCalibrationModes::ESCCAL_DISABLED)) {
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
}
return;
@@ -73,8 +68,9 @@ void Copter::esc_calibration_startup_check()
}
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
if (g.esc_calibrate != ESCCalibrationModes::ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
}
#endif // FRAME_CONFIG != HELI_FRAME
}