Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: check for VTOL takeoff in AUTO 

if the "only arm in Q modes" bit is set in Q_OPTIONS then check that
in AUTO mode we are in a VTOL takeoff WP
This commit is contained in:
Andrew Tridgell 2021-12-04 07:26:39 +11:00 committed by Peter Barker
parent dd6ce1fa73
commit 1c89b7f3a2
1 changed files with 9 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduPlane/AP_Arming.cpp
View File

@ -163,10 +163,15 @@ bool AP_Arming_Plane::quadplane_checks(bool display_failure)
ret = false;
}
if (((plane.quadplane.options & QuadPlane::OPTION_ONLY_ARM_IN_QMODE_OR_AUTO) != 0) &&
!plane.control_mode->is_vtol_mode() && (plane.control_mode != &plane.mode_auto) && (plane.control_mode != &plane.mode_guided)) {
check_failed(display_failure,"not in Q mode");
ret = false;
if ((plane.quadplane.options & QuadPlane::OPTION_ONLY_ARM_IN_QMODE_OR_AUTO) != 0) {
if (!plane.control_mode->is_vtol_mode() && (plane.control_mode != &plane.mode_auto) && (plane.control_mode != &plane.mode_guided)) {
check_failed(display_failure,"not in Q mode");
ret = false;
}
if ((plane.control_mode == &plane.mode_auto) && !plane.quadplane.is_vtol_takeoff(plane.mission.get_current_nav_cmd().id)) {
check_failed(display_failure,"not in VTOL takeoff");
ret = false;
}
}
return ret;