Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 17:38:32 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: allow arming in all auto-throttle modes

Browse Source 
... except QRTL and QLAND which are now universally denied for arming.
This commit is contained in:
Peter Barker 2021-01-22 10:28:26 +11:00 committed by Andrew Tridgell
parent a9be4480b1
commit b6d0208287
2 changed files with 13 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduPlane/AP_Arming.cpp
View File

@ -153,14 +153,11 @@ bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
check_failed(true, "Non-zero throttle"); check_failed(true, "Non-zero throttle");
return false; return false;
} }
// if not in a manual throttle mode and not in CRUISE or FBWB
// modes then disallow rudder arming/disarming
if (plane.control_mode->does_auto_throttle() &&
(plane.control_mode != &plane.mode_cruise && plane.control_mode != &plane.mode_fbwb)) {
check_failed(true, "Mode not rudder-armable");
return false;
} }
if (!plane.control_mode->allows_arming()) {
check_failed(true, "Mode does not allow arming");
return false;
} }
//are arming checks disabled? //are arming checks disabled?

9
ArduPlane/mode.h
View File

@ -63,6 +63,9 @@ public:
// returns a string for this flightmode, exactly 4 bytes // returns a string for this flightmode, exactly 4 bytes
virtual const char *name4() const = 0; virtual const char *name4() const = 0;
// returns true if the vehicle can be armed in this mode
virtual bool allows_arming() const { return true; }
// //
// methods that sub classes should override to affect movement of the vehicle in this mode // methods that sub classes should override to affect movement of the vehicle in this mode
// //
@ -320,6 +323,8 @@ public:
// methods that affect movement of the vehicle in this mode // methods that affect movement of the vehicle in this mode
void update() override { } void update() override { }
bool allows_arming() const override { return false; }
bool allows_throttle_nudging() const override { return true; } bool allows_throttle_nudging() const override { return true; }
bool does_auto_throttle() const override { return true; } bool does_auto_throttle() const override { return true; }
@ -488,6 +493,8 @@ public:
// methods that affect movement of the vehicle in this mode // methods that affect movement of the vehicle in this mode
void update() override; void update() override;
bool allows_arming() const override { return false; }
protected: protected:
bool _enter() override; bool _enter() override;
@ -506,6 +513,8 @@ public:
// methods that affect movement of the vehicle in this mode // methods that affect movement of the vehicle in this mode
void update() override; void update() override;
bool allows_arming() const override { return false; }
protected: protected:
bool _enter() override; bool _enter() override;