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Copter: Move CH7 - CH8 check from read_aux_switches() to pre_arm_checks. 

Moving this to pre-arm checks save some processing time and is safer.
This commit is contained in:
Olivier-ADLER 2013-07-26 00:39:05 +02:00 committed by Randy Mackay
parent f3a2db195e
commit bf6120d8b7
2 changed files with 8 additions and 5 deletions
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5
ArduCopter/control_modes.pde
View File

@ -61,11 +61,6 @@ static void read_aux_switches()
do_aux_switch_function(g.ch7_option, ap_system.CH7_flag); do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
} }
// safety check to ensure we ch7 and ch8 have different functions
if (g.ch7_option == g.ch8_option) {
return;
}
// check if ch8 switch has changed position // check if ch8 switch has changed position
if (ap_system.CH8_flag != (g.rc_8.radio_in >= AUX_SWITCH_PWM_TRIGGER)) { if (ap_system.CH8_flag != (g.rc_8.radio_in >= AUX_SWITCH_PWM_TRIGGER)) {
// set the ch8 flag // set the ch8 flag

8
ArduCopter/motors.pde
View File

@ -222,6 +222,14 @@ static void pre_arm_checks(bool display_failure)
return; return;
} }
// pre-arm check to ensure ch7 and ch8 have different functions
if (g.ch7_option == g.ch8_option) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check CH7 and CH8 settings"));
}
return;
}
// check accelerometers have been calibrated // check accelerometers have been calibrated
if(!ins.calibrated()) { if(!ins.calibrated()) {
if (display_failure) { if (display_failure) {