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Copter: always keep motors interlock state current

This commit is contained in:
Iampete1 2022-01-27 15:36:37 +00:00 committed by Randy Mackay
parent b235116262
commit 704f39a0cc
1 changed files with 11 additions and 10 deletions
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21
ArduCopter/motors.cpp
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@ -161,19 +161,20 @@ void Copter::motors_output()
// update output on any aux channels, for manual passthru
SRV_Channels::output_ch_all();
// check if we are performing the motor test
// update motors interlock state
bool interlock = motors->armed() && !ap.in_arming_delay && (!ap.using_interlock || ap.motor_interlock_switch) && !SRV_Channels::get_emergency_stop();
if (!motors->get_interlock() && interlock) {
motors->set_interlock(true);
AP::logger().Write_Event(LogEvent::MOTORS_INTERLOCK_ENABLED);
} else if (motors->get_interlock() && !interlock) {
motors->set_interlock(false);
AP::logger().Write_Event(LogEvent::MOTORS_INTERLOCK_DISABLED);
}
if (ap.motor_test) {
// check if we are performing the motor test
motor_test_output();
} else {
bool interlock = motors->armed() && !ap.in_arming_delay && (!ap.using_interlock || ap.motor_interlock_switch) && !SRV_Channels::get_emergency_stop();
if (!motors->get_interlock() && interlock) {
motors->set_interlock(true);
AP::logger().Write_Event(LogEvent::MOTORS_INTERLOCK_ENABLED);
} else if (motors->get_interlock() && !interlock) {
motors->set_interlock(false);
AP::logger().Write_Event(LogEvent::MOTORS_INTERLOCK_DISABLED);
}
// send output signals to motors
flightmode->output_to_motors();
}