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Copter: Change all zero throttle checks that should be conservative to use ap.throttle_zero

This commit is contained in:
Jonathan Challinger 2014-10-07 08:29:24 -07:00 committed by Randy Mackay
parent 506c7661a4
commit 8d63a65793
7 changed files with 12 additions and 12 deletions
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2
ArduCopter/commands_logic.pde
View File

@ -265,7 +265,7 @@ static void exit_mission()
}else{
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (g.rc_3.control_in == 0 || failsafe.radio) {
if (ap.throttle_zero || failsafe.radio) {
init_disarm_motors();
}
#else

4
ArduCopter/control_land.pde
View File

@ -61,7 +61,7 @@ static void land_gps_run()
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
init_disarm_motors();
}
#else
@ -131,7 +131,7 @@ static void land_nogps_run()
attitude_control.set_throttle_out(0, false);
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
init_disarm_motors();
}
#else

2
ArduCopter/control_rtl.pde
View File

@ -334,7 +334,7 @@ static void rtl_land_run()
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
init_disarm_motors();
}
#else

2
ArduCopter/crash_check.pde
View File

@ -25,7 +25,7 @@ void crash_check()
#endif
// return immediately if motors are not armed or pilot's throttle is above zero
if (!motors.armed() || (g.rc_3.control_in != 0 && !failsafe.radio)) {
if (!motors.armed() || (!ap.throttle_zero && !failsafe.radio)) {
inverted_count = 0;
return;
}

6
ArduCopter/events.pde
View File

@ -16,7 +16,7 @@ static void failsafe_radio_on_event()
case STABILIZE:
case ACRO:
// if throttle is zero OR vehicle is landed disarm motors
if (g.rc_3.control_in == 0 || ap.land_complete) {
if (ap.throttle_zero || ap.land_complete) {
init_disarm_motors();
// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_LAND then land immediately
@ -115,7 +115,7 @@ static void failsafe_battery_event(void)
case STABILIZE:
case ACRO:
// if throttle is zero OR vehicle is landed disarm motors
if (g.rc_3.control_in == 0 || ap.land_complete) {
if (ap.throttle_zero || ap.land_complete) {
init_disarm_motors();
}else{
// set mode to RTL or LAND
@ -274,7 +274,7 @@ static void failsafe_gcs_check()
case ACRO:
case SPORT:
// if throttle is zero disarm motors
if (g.rc_3.control_in == 0) {
if (ap.throttle_zero) {
init_disarm_motors();
}else if(home_distance > wp_nav.get_wp_radius()) {
if (!set_mode(RTL)) {

2
ArduCopter/fence.pde
View File

@ -30,7 +30,7 @@ void fence_check()
// disarm immediately if we think we are on the ground
// don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
if(manual_flight_mode(control_mode) && g.rc_3.control_in == 0 && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0)){
if(manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0)){
init_disarm_motors();
}else{
// if we are within 100m of the fence, RTL

6
ArduCopter/system.pde
View File

@ -356,7 +356,7 @@ static void update_auto_armed()
return;
}
// if in stabilize or acro flight mode and throttle is zero, auto-armed should become false
if(manual_flight_mode(control_mode) && g.rc_3.control_in == 0 && !failsafe.radio) {
if(manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio) {
set_auto_armed(false);
}
}else{
@ -364,12 +364,12 @@ static void update_auto_armed()
#if FRAME_CONFIG == HELI_FRAME
// for tradheli if motors are armed and throttle is above zero and the motor is started, auto_armed should be true
if(motors.armed() && g.rc_3.control_in != 0 && motors.motor_runup_complete()) {
if(motors.armed() && !ap.throttle_zero && motors.motor_runup_complete()) {
set_auto_armed(true);
}
#else
// if motors are armed and throttle is above zero auto_armed should be true
if(motors.armed() && g.rc_3.control_in != 0) {
if(motors.armed() && !ap.throttle_zero) {
set_auto_armed(true);
}
#endif // HELI_FRAME