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Copter: use hal.util soft_armed state

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Jonathan Challinger 2015-01-28 15:18:20 -08:00 committed by Andrew Tridgell
parent 50466848f7
commit 0cc83b1826
2 changed files with 3 additions and 3 deletions
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2
ArduCopter/Parameters.pde
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@ -1080,7 +1080,7 @@ static void load_parameters(void)
}
// disable centrifugal force correction, it will be enabled as part of the arming process
ahrs.set_correct_centrifugal(false);
ahrs.set_armed(false);
hal.util->set_soft_armed(false);
// setup different AHRS gains for ArduCopter than the default
// but allow users to override in their config

4
ArduCopter/motors.pde
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@ -171,7 +171,7 @@ static bool init_arm_motors(bool arming_from_gcs)
// enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true);
ahrs.set_armed(true);
hal.util->set_soft_armed(true);
// set hover throttle
motors.set_mid_throttle(g.throttle_mid);
@ -713,7 +713,7 @@ static void init_disarm_motors()
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);
ahrs.set_armed(false);
hal.util->set_soft_armed(false);
}
// motors_output - send output to motors library which will adjust and send to ESCs and servos