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Plane: It is possible to disarm with left rudder. 

Using is_flying() avoid accidentally disarming while flying.
This commit is contained in:
pepevalbe 2015-07-16 19:47:08 +02:00 committed by Andrew Tridgell
parent 8240e5ae65
commit da41d85433
2 changed files with 42 additions and 27 deletions
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2
ArduPlane/Plane.h
View File

@ -786,7 +786,7 @@ private:
void set_control_channels(void);
void init_rc_in();
void init_rc_out();
void rudder_arm_check();
void rudder_arm_disarm_check();
void read_radio();
void control_failsafe(uint16_t pwm);
void trim_control_surfaces();

67
ArduPlane/radio.cpp
View File

@ -76,8 +76,8 @@ void Plane::init_rc_out()
}
}
// check for pilot input on rudder stick for arming
void Plane::rudder_arm_check()
// check for pilot input on rudder stick for arming/disarming
void Plane::rudder_arm_disarm_check()
{
//TODO: ensure rudder arming disallowed during radio calibration
@ -85,45 +85,60 @@ void Plane::rudder_arm_check()
static uint32_t rudder_arm_timer;
if (arming.is_armed()) {
//already armed, no need to run remainder of this function
rudder_arm_timer = 0;
return;
}
if (! arming.rudder_arming_enabled()) {
//parameter disallows rudder arming
//parameter disallows rudder arming/disabling
return;
}
//if throttle is not down, then pilot cannot rudder arm
//if throttle is not down, then pilot cannot rudder arm/disarm
if (channel_throttle->control_in > 0) {
rudder_arm_timer = 0;
return;
}
//if not in a 'manual' mode then disallow rudder arming
//if not in a 'manual' mode then disallow rudder arming/disarming
if (auto_throttle_mode ) {
rudder_arm_timer = 0;
return;
}
// full right rudder starts arming counter
if (channel_rudder->control_in > 4000) {
uint32_t now = millis();
if (!arming.is_armed()) {
// when not armed, full right rudder starts arming counter
if (channel_rudder->control_in > 4000) {
uint32_t now = millis();
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < 3000) {
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < 3000) {
if (rudder_arm_timer == 0) rudder_arm_timer = now;
} else {
//time to arm!
arm_motors(AP_Arming::RUDDER);
}
} else {
// not at full right rudder
rudder_arm_timer = 0;
}
if (rudder_arm_timer == 0) rudder_arm_timer = now;
} else {
//time to arm!
arm_motors(AP_Arming::RUDDER);
rudder_arm_timer = 0;
}
} else {
// not at full right rudder
rudder_arm_timer = 0;
}
} else if (!is_flying()) {
// when armed and not flying, full left rudder starts disarming counter
if (channel_rudder->control_in < -4000) {
uint32_t now = millis();
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < 3000) {
if (rudder_arm_timer == 0) rudder_arm_timer = now;
} else {
//time to disarm!
disarm_motors();
rudder_arm_timer = 0;
}
} else {
// not at full left rudder
rudder_arm_timer = 0;
}
}
}
void Plane::read_radio()
@ -177,7 +192,7 @@ void Plane::read_radio()
throttle_nudge = 0;
}
rudder_arm_check();
rudder_arm_disarm_check();
if (g.rudder_only != 0) {
// in rudder only mode we discard rudder input and get target