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Plane: prevent baro reset from OVERRIDE_CHAN

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using OVERRIDE_CHAN would cause a baro reset as it would mean we are
temporarily disarmed, and the "reset baro and GPS when disarmed" check
would reset the baro

Now we only do the mixer update if disarmed
This commit is contained in:
Andrew Tridgell 2014-11-29 19:55:25 +11:00
parent c299f721b1
commit a0f69e06a7
1 changed files with 4 additions and 1 deletions
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5
ArduPlane/control_modes.pde
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@ -65,7 +65,10 @@ static void read_control_switch()
// if the user has configured an override channel then check it
bool override = (hal.rcin->read(g.override_channel-1) >= PX4IO_OVERRIDE_PWM);
if (override && !px4io_override_enabled) {
if (setup_failsafe_mixing()) {
// we only update the mixer if we are not armed. This is
// important as otherwise we will need to temporarily
// disarm to change the mixer
if (ahrs.get_armed() || setup_failsafe_mixing()) {
px4io_override_enabled = true;
// disable output channels to force PX4IO override
for (uint8_t i=0; i<16; i++) {