Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

ACM: Failsafe Fix for Mission planner initiated AUTO mode

Browse Source 
Keeps the failsafe from exiting Auto mode when returning from failsafe. Added arming ability for Toy mode.
This commit is contained in:
Jason Short 2012-07-23 19:34:14 -07:00
parent 39ad8b5eec
commit 8188058404
2 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/events.pde
View File

@ -38,6 +38,10 @@ static void failsafe_on_event()
static void failsafe_off_event() static void failsafe_off_event()
{ {
// If we are in AUTO, no need to do anything
if(control_mode == AUTO)
return;
if (g.throttle_fs_action == 2){ if (g.throttle_fs_action == 2){
// We're back in radio contact // We're back in radio contact
// return to AP // return to AP

2
ArduCopter/motors.pde
View File

@ -12,7 +12,7 @@ static void arm_motors()
static int arming_counter; static int arming_counter;
// don't allow arming/disarming in anything but manual // don't allow arming/disarming in anything but manual
if ((g.rc_3.control_in > 0) || (control_mode >= ALT_HOLD) || (arming_counter > LEVEL_DELAY)){ if ((g.rc_3.control_in > 0) || (control_mode >= ALT_HOLD) || (control_mode == TOY) || (arming_counter > LEVEL_DELAY)){
arming_counter = 0; arming_counter = 0;
return; return;
} }