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Rover: support disabling rudder arming

This commit is contained in:
Randy Mackay 2018-09-08 12:36:06 +09:00 committed by Andrew Tridgell
parent b61b25e5bf
commit b1a4cd55fd
1 changed files with 7 additions and 1 deletions
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8
APMrover2/radio.cpp
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@ -47,6 +47,12 @@ void Rover::init_rc_out()
*/ */
void Rover::rudder_arm_disarm_check() void Rover::rudder_arm_disarm_check()
{ {
// check if arming/disarm using rudder is allowed
AP_Arming::ArmingRudder arming_rudder = arming.rudder_arming();
if (arming_rudder == AP_Arming::ARMING_RUDDER_DISABLED) {
return;
}
// In Rover we need to check that its set to the throttle trim and within the DZ // In Rover we need to check that its set to the throttle trim and within the DZ
// if throttle is not within trim dz, then pilot cannot rudder arm/disarm // if throttle is not within trim dz, then pilot cannot rudder arm/disarm
if (!channel_throttle->in_trim_dz()) { if (!channel_throttle->in_trim_dz()) {
@ -79,7 +85,7 @@ void Rover::rudder_arm_disarm_check()
// not at full right rudder // not at full right rudder
rudder_arm_timer = 0; rudder_arm_timer = 0;
} }
} else if (!g2.motors.active()) { } else if ((arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM) && !g2.motors.active()) {
// when armed and motor not active (not moving), full left rudder starts disarming counter // when armed and motor not active (not moving), full left rudder starts disarming counter
if (channel_steer->get_control_in() < -4000) { if (channel_steer->get_control_in() < -4000) {
const uint32_t now = millis(); const uint32_t now = millis();