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Plane: use arm_motors() and disarm_motors()

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This commit is contained in:
Andrew Tridgell 2015-03-17 10:10:35 +11:00
parent dd1059cecf
commit 18b277a9d2
2 changed files with 3 additions and 23 deletions
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20
ArduPlane/GCS_Mavlink.pde
View File

@ -1098,29 +1098,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures
if (arming.arm(AP_Arming::MAVLINK)) {
//only log if arming was successful
channel_throttle->enable_out();
change_arm_state();
if (arm_motors(AP_Arming::MAVLINK)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (packet.param1 == 0.0f) {
if (arming.disarm()) {
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
channel_throttle->disable_out();
}
if (control_mode != AUTO) {
// reset the mission on disarm if we are not in auto
mission.reset();
}
// suppress the throttle in auto-throttle modes
throttle_suppressed = auto_throttle_mode;
//only log if disarming was successful
change_arm_state();
if (disarm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;

6
ArduPlane/radio.pde
View File

@ -110,11 +110,7 @@ static void rudder_arm_check()
if (rudder_arm_timer == 0) rudder_arm_timer = now;
} else {
//time to arm!
if (arming.arm(AP_Arming::RUDDER)) {
channel_throttle->enable_out();
//only log if arming was successful
change_arm_state();
}
arm_motors(AP_Arming::RUDDER);
}
} else {
// not at full right rudder