Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 22:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: move handling of disable-gcs-rc-overrides-channel-option up

Browse Source
This commit is contained in:
Peter Barker 2018-08-02 20:48:21 +10:00 committed by Peter Barker
parent 7bdd9b1aea
commit ec6c59faa3
5 changed files with 2 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Copter.h
View File

@ -342,7 +342,7 @@ private:
uint8_t in_arming_delay : 1; // 24 // true while we are armed but waiting to spin motors uint8_t in_arming_delay : 1; // 24 // true while we are armed but waiting to spin motors
uint8_t initialised_params : 1; // 25 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done uint8_t initialised_params : 1; // 25 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
uint8_t compass_init_location : 1; // 26 // true when the compass's initial location has been set uint8_t compass_init_location : 1; // 26 // true when the compass's initial location has been set
uint8_t rc_override_enable : 1; // 27 // aux switch rc_override is allowed uint8_t unused2 : 1; // 27 // aux switch rc_override is allowed
uint8_t armed_with_switch : 1; // 28 // we armed using a arming switch uint8_t armed_with_switch : 1; // 28 // we armed using a arming switch
}; };
uint32_t value; uint32_t value;

2
ArduCopter/GCS_Mavlink.cpp
View File

@ -1052,7 +1052,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
if(msg->sysid != copter.g.sysid_my_gcs) { if(msg->sysid != copter.g.sysid_my_gcs) {
break; // Only accept control from our gcs break; // Only accept control from our gcs
} }
if (!copter.ap.rc_override_enable) { if (!rc().gcs_overrides_enabled()) {
if (copter.failsafe.rc_override_active) { // if overrides were active previously, disable them if (copter.failsafe.rc_override_active) { // if overrides were active previously, disable them
copter.failsafe.rc_override_active = false; copter.failsafe.rc_override_active = false;
RC_Channels::clear_overrides(); RC_Channels::clear_overrides();

18
ArduCopter/RC_Channel.cpp
View File

@ -81,7 +81,6 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_
case AVOID_PROXIMITY: case AVOID_PROXIMITY:
case INVERTED: case INVERTED:
case WINCH_ENABLE: case WINCH_ENABLE:
case RC_OVERRIDE_ENABLE:
do_aux_function(ch_option, ch_flag); do_aux_function(ch_option, ch_flag);
break; break;
// the following functions do not need to be initialised: // the following functions do not need to be initialised:
@ -512,23 +511,6 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
#endif #endif
break; break;
case RC_OVERRIDE_ENABLE:
// Allow or disallow RC_Override
switch (ch_flag) {
case HIGH: {
copter.ap.rc_override_enable = true;
break;
}
case MIDDLE:
// nothing
break;
case LOW: {
copter.ap.rc_override_enable = false;
break;
}
}
break;
#ifdef USERHOOK_AUXSWITCH #ifdef USERHOOK_AUXSWITCH
case USER_FUNC1: case USER_FUNC1:
userhook_auxSwitch1(ch_flag); userhook_auxSwitch1(ch_flag);

3
ArduCopter/radio.cpp
View File

@ -43,9 +43,6 @@ void Copter::init_rc_in()
// initialise throttle_zero flag // initialise throttle_zero flag
ap.throttle_zero = true; ap.throttle_zero = true;
// Allow override by default at start
ap.rc_override_enable = true;
} }
// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration // init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration

3
ArduCopter/system.cpp
View File

@ -275,9 +275,6 @@ void Copter::init_ardupilot()
// disable safety if requested // disable safety if requested
BoardConfig.init_safety(); BoardConfig.init_safety();
// default enable RC override
copter.ap.rc_override_enable = true;
hal.console->printf("\nReady to FLY "); hal.console->printf("\nReady to FLY ");
// flag that initialisation has completed // flag that initialisation has completed