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fix: init ESCs before anything #40

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Merged
lobodol merged 1 commit into from
Mar 1, 2026
Merged

fix: init ESCs before anything #40

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21 changes: 18 additions & 3 deletions drone-flight-controller.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -110,10 +110,28 @@ int status = STOPPED;
int battery_voltage;
// ---------------------------------------------------------------------------

/**
* Configure ESC output pins and feed them a low-throttle pulse for ~5 s so
* they can complete their startup sequence (melody → cell detection → arming
* confirmation) before the rest of setup runs.
* Period: 1000 µs HIGH + 3000 µs LOW = 4 ms → 1250 iterations ≈ 5 s.
*/
void initEscs() {
DDRD |= B11110000; // Set pins 4-7 as outputs
for (int i = 0; i < 1250; i++) {
PORTD |= B11110000; // Set pins 4-7 HIGH
delayMicroseconds(1000); // 1000 µs pulse (minimum throttle)
PORTD &= B00001111; // Set pins 4-7 LOW
delayMicroseconds(3000); // remainder of 4 ms period
}
}

/**
* Setup configuration
*/
void setup() {
initEscs();

// Start I2C communication
Wire.begin();
TWBR = 12; // Set the I2C clock speed to 400kHz.
Expand All @@ -122,9 +140,6 @@ void setup() {
pinMode(13, OUTPUT);
digitalWrite(13, HIGH);

// Set pins #4 #5 #6 #7 as outputs
DDRD |= B11110000;

setupMpu6050Registers();

calibrateMpu6050();
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