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Copter: auto-trim start delays auto-disarm by 15sec

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Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
This commit is contained in:
Randy Mackay 2014-10-09 22:42:47 +09:00
parent 74e86a3cd7
commit 6537432b50
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/motors.pde
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@ -5,6 +5,8 @@
#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define AUTO_DISARMING_DELAY 15 // called at 1hz so 15 seconds
static uint8_t auto_disarming_counter;
// arm_motors_check - checks for pilot input to arm or disarm the copter
// called at 10hz
static void arm_motors_check()
@ -68,6 +70,8 @@ static void arm_motors_check()
// arm the motors and configure for flight
if (arming_counter == AUTO_TRIM_DELAY && motors.armed() && control_mode == STABILIZE) {
auto_trim_counter = 250;
// ensure auto-disarm doesn't trigger immediately
auto_disarming_counter = 0;
}
// full left
@ -94,8 +98,6 @@ static void arm_motors_check()
// called at 1hz
static void auto_disarm_check()
{
static uint8_t auto_disarming_counter;
// exit immediately if we are already disarmed or throttle is not zero
if (!motors.armed() || g.rc_3.control_in > 0) {
auto_disarming_counter = 0;