Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: support disabling rudder arming

Browse Source
This commit is contained in:
Randy Mackay 2018-09-10 09:19:49 +09:00
parent 94de4589bf
commit 069957f342
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/motors.cpp
View File

@ -13,6 +13,12 @@ void Copter::arm_motors_check()
{
static int16_t arming_counter;
// check if arming/disarm using rudder is allowed
AP_Arming::ArmingRudder arming_rudder = arming.rudder_arming();
if (arming_rudder == AP_Arming::ARMING_RUDDER_DISABLED) {
return;
}
#if TOY_MODE_ENABLED == ENABLED
if (g2.toy_mode.enabled()) {
// not armed with sticks in toy mode
@ -51,8 +57,8 @@ void Copter::arm_motors_check()
auto_disarm_begin = millis();
}
// full left
}else if (tmp < -4000) {
// full left and rudder disarming is enabled
} else if ((tmp < -4000) && (arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM)) {
if (!flightmode->has_manual_throttle() && !ap.land_complete) {
arming_counter = 0;
return;