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Copter: support ARMDISARM_AIRMODE

This commit is contained in:
Iampete1 2021-09-14 01:10:39 +01:00 committed by Andrew Tridgell
parent db416bbeef
commit 07824fc963
2 changed files with 8 additions and 11 deletions
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18
ArduCopter/RC_Channel.cpp
View File

@ -101,6 +101,7 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxS
case AUX_FUNC::AUTO_RTL:
case AUX_FUNC::TURTLE:
case AUX_FUNC::SIMPLE_HEADING_RESET:
case AUX_FUNC::ARMDISARM_AIRMODE:
break;
case AUX_FUNC::ACRO_TRAINER:
case AUX_FUNC::ATTCON_ACCEL_LIM:
@ -145,16 +146,6 @@ void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
}
}
void RC_Channel_Copter::do_aux_function_armdisarm(const AuxSwitchPos ch_flag)
{
RC_Channel::do_aux_function_armdisarm(ch_flag);
if (copter.arming.is_armed()) {
// remember that we are using an arming switch, for use by
// set_throttle_zero_flag
copter.ap.armed_with_switch = true;
}
}
// do_aux_function - implement the function invoked by auxiliary switches
bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
@ -593,6 +584,13 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
}
break;
case AUX_FUNC::ARMDISARM_AIRMODE:
RC_Channel::do_aux_function_armdisarm(ch_flag);
if (copter.arming.is_armed()) {
copter.ap.armed_with_airmode_switch = true;
}
break;
default:
return RC_Channel::do_aux_function(ch_option, ch_flag);
}

1
ArduCopter/RC_Channel.h
View File

@ -16,7 +16,6 @@ protected:
private:
void do_aux_function_armdisarm(const AuxSwitchPos ch_flag) override;
void do_aux_function_change_mode(const Mode::Number mode,
const AuxSwitchPos ch_flag);
void do_aux_function_change_air_mode(const AuxSwitchPos ch_flag);