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Plane: inform dataflash of vehicle arm state

This commit is contained in:
Peter Barker 2016-07-28 16:37:28 +10:00 committed by Tom Pittenger
parent f9802204df
commit 17f5ef4610
3 changed files with 10 additions and 4 deletions

View File

@ -151,11 +151,17 @@ void Plane::loop()
scheduler.run(loop_us);
}
void Plane::update_soft_armed()
{
hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
DataFlash.set_vehicle_armed(hal.util->get_soft_armed());
}
// update AHRS system
void Plane::ahrs_update()
{
hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
update_soft_armed();
#if HIL_SUPPORT
if (g.hil_mode == 1) {

View File

@ -1095,6 +1095,7 @@ private:
void parachute_release();
bool parachute_manual_release();
void accel_cal_update(void);
void update_soft_armed();
// support for AP_Avoidance custom flight mode, AVOID_ADSB
bool avoid_adsb_init(bool ignore_checks);

View File

@ -815,8 +815,7 @@ int8_t Plane::throttle_percentage(void)
void Plane::change_arm_state(void)
{
Log_Arm_Disarm();
hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
update_soft_armed();
quadplane.set_armed(hal.util->get_soft_armed());
}