Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 16:48:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: inform dataflash of vehicle arm state

Browse Source
This commit is contained in:
Peter Barker 2016-07-28 16:37:23 +10:00 committed by Tom Pittenger
parent 2c8a0a9123
commit f9802204df
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/motors.cpp
View File

@ -137,6 +137,9 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
return false;
}
// let dataflash know that we're armed (it may open logs e.g.)
DataFlash_Class::instance()->set_vehicle_armed(true);
// disable cpu failsafe because initialising everything takes a while
failsafe_disable();
@ -254,6 +257,7 @@ void Copter::init_disarm_motors()
if (!DataFlash.log_while_disarmed()) {
DataFlash.EnableWrites(false);
}
DataFlash_Class::instance()->set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);