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Added takeoff state and ground state variable

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Jason Short 2012-01-03 10:24:51 -08:00
parent 37cda3c364
commit e7b750074b
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/motors.pde
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@ -65,6 +65,11 @@ static void arm_motors()
static void init_arm_motors() static void init_arm_motors()
{ {
// Flag used to track if we have armed the motors the first time.
// This is used to decide if we should run the ground_start routine
// which calibrates the IMU
static bool did_ground_start = false;
//Serial.printf("\nARM\n"); //Serial.printf("\nARM\n");
#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD) #if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS")); gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
@ -116,6 +121,9 @@ static void init_disarm_motors()
motor_armed = false; motor_armed = false;
compass.save_offsets(); compass.save_offsets();
// we are not in the air
takeoff_complete = false;
#if PIEZO_ARMING == 1 #if PIEZO_ARMING == 1
piezo_beep(); piezo_beep();
#endif #endif