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Plane: disallow mavlink disarm while flying

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this relies on is_flying(), and we will need to watch for reports of
the heuristics failing
This commit is contained in:
Andrew Tridgell 2022-03-07 12:39:46 +11:00
parent a71b406287
commit e0e60c8654
1 changed files with 6 additions and 3 deletions
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9
ArduPlane/AP_Arming.cpp
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@ -275,12 +275,15 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_checks) bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_checks)
{ {
if (do_disarm_checks && if (do_disarm_checks &&
method == AP_Arming::Method::RUDDER) { (method == AP_Arming::Method::MAVLINK ||
// don't allow rudder-disarming in flight: method == AP_Arming::Method::RUDDER)) {
if (plane.is_flying()) { if (plane.is_flying()) {
// obviously this could happen in-flight so we can't warn about it // don't allow mavlink or rudder disarm while flying
return false; return false;
} }
}
if (do_disarm_checks && method == AP_Arming::Method::RUDDER) {
// option must be enabled: // option must be enabled:
if (get_rudder_arming_type() != AP_Arming::RudderArming::ARMDISARM) { if (get_rudder_arming_type() != AP_Arming::RudderArming::ARMDISARM) {
gcs().send_text(MAV_SEVERITY_INFO, "Rudder disarm: disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Rudder disarm: disabled");