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Copter: allow arming in GUIDED only from GCS

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Also changed mode_allows_arming function to accept arming_from_gcs param
Also remove AUTOTUNE from arming list
This commit is contained in:
Randy Mackay 2014-10-11 16:05:32 +09:00
parent 2b0cffda29
commit 9d4107f1fc
2 changed files with 6 additions and 4 deletions
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6
ArduCopter/flight_mode.pde
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@ -267,8 +267,10 @@ static bool manual_flight_mode(uint8_t mode) {
return false;
}
static bool mode_allows_arming(uint8_t mode) {
if (manual_flight_mode(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == AUTOTUNE || mode == GUIDED) {
// mode_allows_arming - returns true if vehicle can be armed in the specified mode
// arming_from_gcs should be set to true if the arming request comes from the ground station
static bool mode_allows_arming(uint8_t mode, bool arming_from_gcs) {
if (manual_flight_mode(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
return true;
}
return false;

4
ArduCopter/motors.pde
View File

@ -504,10 +504,10 @@ static bool pre_arm_gps_checks(bool display_failure)
// arm_checks - perform final checks before arming
// always called just before arming. Return true if ok to arm
static bool arm_checks(bool display_failure, bool request_from_gcs)
static bool arm_checks(bool display_failure, bool arming_from_gcs)
{
// always check if the current mode allows arming
if (!mode_allows_arming(control_mode) || (!request_from_gcs && control_mode == GUIDED)) {
if (!mode_allows_arming(control_mode, arming_from_gcs)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Mode not armable"));
}