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Sub: Handle RC input for SITL autotest

This commit is contained in:
Jacob Walser 2017-02-24 18:09:43 -05:00 committed by Andrew Tridgell
parent 053f0b4ce7
commit 81935f6b7c
2 changed files with 5 additions and 0 deletions
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3
ArduSub/arming_checks.cpp
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@ -20,10 +20,13 @@ void Sub::update_arming_checks(void)
// performs pre-arm checks and arming checks
bool Sub::all_arming_checks_passing(bool arming_from_gcs)
{
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (failsafe.manual_control) {
gcs_send_text(MAV_SEVERITY_WARNING, "Arming requires manual control");
return false;
}
#endif
if (pre_arm_checks(true)) {
set_pre_arm_check(true);
}

2
ArduSub/radio.cpp
View File

@ -44,6 +44,7 @@ void Sub::init_rc_in()
// set default dead zones
default_dead_zones();
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
// initialize rc input to 1500 on control channels (rather than 0)
for (int i = 0; i < 7; i++) {
if (i == 4) {
@ -52,6 +53,7 @@ void Sub::init_rc_in()
hal.rcin->set_override(i, 1500);
}
}
#endif
// initialise throttle_zero flag
ap.throttle_zero = true;