aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Plane: removed check on target_component in ARM/DISARM

Browse Source 
Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
This commit is contained in:
Andrew Tridgell 2014-03-20 09:06:48 +11:00
parent a345a9d993
commit 4257d8365c
1 changed files with 21 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

46
ArduPlane/GCS_Mavlink.pde
View File

@ -1160,32 +1160,28 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures
if (arming.arm(AP_Arming::MAVLINK)) {
//only log if arming was successful
channel_throttle->enable_out();
Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (packet.param1 == 0.0f) {
if (arming.disarm()) {
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
channel_throttle->disable_out();
}
// reset the mission on disarm
mission.stop();
//only log if disarming was successful
Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures
if (arming.arm(AP_Arming::MAVLINK)) {
//only log if arming was successful
channel_throttle->enable_out();
Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_UNSUPPORTED;
result = MAV_RESULT_FAILED;
}
} else if (packet.param1 == 0.0f) {
if (arming.disarm()) {
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
channel_throttle->disable_out();
}
// reset the mission on disarm
mission.stop();
//only log if disarming was successful
Log_Arm_Disarm();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;