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Plane: small arming tidyups

This commit is contained in:
Andrew Tridgell 2013-12-11 17:01:37 +11:00
parent 89bbf5de3a
commit 3508a14542
3 changed files with 17 additions and 17 deletions
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15
ArduPlane/ArduPlane.pde
View File

@ -690,19 +690,19 @@ static uint16_t mainLoop_count;
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
AP_Mount camera_mount(&current_loc, g_gps, ahrs, 0);
static AP_Mount camera_mount(&current_loc, g_gps, ahrs, 0);
#endif
#if MOUNT2 == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
AP_Mount camera_mount2(&current_loc, g_gps, ahrs, 1);
static AP_Mount camera_mount2(&current_loc, g_gps, ahrs, 1);
#endif
////////////////////////////////////////////////////////////////////////////////
// Arming/Disarming mangement class
////////////////////////////////////////////////////////////////////////////////
AP_Arming arming(ahrs, barometer, home_is_set, gcs_send_text_P);
static AP_Arming arming(ahrs, barometer, home_is_set, gcs_send_text_P);
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
@ -775,12 +775,6 @@ void setup() {
init_ardupilot();
//if no user intervention require to arm, then just arm already
//(maintain old behavior)
if (arming.arming_required() == AP_Arming::NO) {
arming.arm(AP_Arming::NONE);
}
// initialise the main loop scheduler
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
}
@ -1083,7 +1077,8 @@ static void update_GPS(void)
}
#endif
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (!arming.is_armed() ||
hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
update_home();
}
}

8
ArduPlane/GCS_Mavlink.pde
View File

@ -1287,14 +1287,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (arming.arm(AP_Arming::MAVLINK)) {
//only log if arming was successful
Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
result = MAV_RESULT_ACCEPTED;
} else if (packet.param1 == 0.0f) {
if (arming.disarm()) {
//only log if disarming was successful
Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_UNSUPPORTED;
}

11
ArduPlane/radio.pde
View File

@ -63,12 +63,13 @@ static void init_rc_out()
}
// check for pilot input on rudder stick for arming
static void rudder_arm_check() {
static void rudder_arm_check()
{
//TODO: ensure rudder arming disallowed during radio calibration
//TODO: waggle ailerons and rudder and beep after rudder arming
static uint32_t rudder_arm_timer = 0;
static uint32_t rudder_arm_timer;
if (arming.is_armed()) {
//already armed, no need to run remainder of this function
@ -82,7 +83,7 @@ static void rudder_arm_check() {
}
//if throttle is not down, then pilot cannot rudder arm
if(g.rc_3.control_in > 0 ) {
if (g.rc_3.control_in > 0) {
rudder_arm_timer = 0;
return;
}
@ -95,12 +96,12 @@ static void rudder_arm_check() {
// full left or right rudder starts arming counter
if (g.rc_4.control_in > 4000
|| g.rc_4.control_in < -4000) {
|| g.rc_4.control_in < -4000) {
uint32_t now = millis();
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < 3000) {
now - rudder_arm_timer < 3000) {
if (rudder_arm_timer == 0) rudder_arm_timer = now;
} else {