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Copter: protect against multiple arming messages 

Protect against the GCS sending multiple arming messages close together
which disrupts the gyro calibration
This commit is contained in:
Randy Mackay 2015-02-02 22:29:17 +09:00
parent a067a5e623
commit 90961bb104
1 changed files with 12 additions and 0 deletions
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12
ArduCopter/motors.pde
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@ -109,6 +109,13 @@ static bool init_arm_motors()
// This is used to decide if we should run the ground_start routine
// which calibrates the IMU
static bool did_ground_start = false;
static bool in_arm_motors = false;
// exit immediately if already in this function
if (in_arm_motors) {
return false;
}
in_arm_motors = true;
// disable cpu failsafe because initialising everything takes a while
failsafe_disable();
@ -155,6 +162,7 @@ static bool init_arm_motors()
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Gyro cal failed"));
AP_Notify::flags.armed = false;
failsafe_enable();
in_arm_motors = false;
return false;
}
did_ground_start = true;
@ -182,6 +190,7 @@ static bool init_arm_motors()
motors.output_min();
failsafe_enable();
AP_Notify::flags.armed = false;
in_arm_motors = false;
return false;
}
@ -208,6 +217,9 @@ static bool init_arm_motors()
// reenable failsafe
failsafe_enable();
// flag exiting this function
in_arm_motors = false;
// return success
return true;
}