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Copter: allow arming at mid throttle in AltHold, Loiter

This commit is contained in:
Randy Mackay 2015-01-21 20:32:18 +09:00
parent e7f20c04c3
commit 32cb901ce3
1 changed files with 29 additions and 21 deletions
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50
ArduCopter/motors.pde
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@ -574,16 +574,6 @@ static bool arm_checks(bool display_failure, bool arming_from_gcs)
return true; return true;
} }
// check throttle is down
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
if (g.rc_3.control_in > 0) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
}
return false;
}
}
// check Baro & inav alt are within 1m // check Baro & inav alt are within 1m
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
if(fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) { if(fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
@ -599,17 +589,6 @@ static bool arm_checks(bool display_failure, bool arming_from_gcs)
return false; return false;
} }
// check parameters
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
// check throttle is above failsafe throttle
if (g.failsafe_throttle != FS_THR_DISABLED && g.rc_3.radio_in < g.failsafe_throttle_value) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle below Failsafe"));
}
return false;
}
}
// check lean angle // check lean angle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if (labs(ahrs.roll_sensor) > aparm.angle_max || labs(ahrs.pitch_sensor) > aparm.angle_max) { if (labs(ahrs.roll_sensor) > aparm.angle_max || labs(ahrs.pitch_sensor) > aparm.angle_max) {
@ -620,6 +599,35 @@ static bool arm_checks(bool display_failure, bool arming_from_gcs)
} }
} }
// check throttle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
// check throttle is not too low - must be above failsafe throttle
if (g.failsafe_throttle != FS_THR_DISABLED && g.rc_3.radio_in < g.failsafe_throttle_value) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle below Failsafe"));
}
return false;
}
// check throttle is not too high - skips checks if arming from GCS in Guided
if (!(arming_from_gcs && control_mode == GUIDED)) {
// above top of deadband is too always high
if (g.rc_3.control_in > (g.rc_3.get_control_mid() + g.throttle_deadzone)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
}
return false;
}
// in manual modes throttle must be at zero
if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && g.rc_3.control_in > 0) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
}
return false;
}
}
}
// check if safety switch has been pushed // check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (display_failure) { if (display_failure) {