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

Plane: allow rudder disarm based on ARMING_RUDDER parameter

Browse Source
This commit is contained in:
Andrew Tridgell 2015-07-23 21:47:37 +10:00
parent 54254c89d7
commit 58fa38cc12
2 changed files with 16 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/Plane.h
View File

@ -643,6 +643,8 @@ private:
// true if we are out of time in our event timeslice
bool gcs_out_of_time = false;
// time that rudder arming has been running
uint32_t rudder_arm_timer;
void demo_servos(uint8_t i);
void adjust_nav_pitch_throttle(void);

27
ArduPlane/radio.cpp
View File

@ -76,27 +76,25 @@ void Plane::init_rc_out()
}
}
// check for pilot input on rudder stick for arming/disarming
/*
check for pilot input on rudder stick for arming/disarming
*/
void Plane::rudder_arm_disarm_check()
{
//TODO: ensure rudder arming disallowed during radio calibration
AP_Arming::ArmingRudder arming_rudder = arming.rudder_arming();
//TODO: waggle ailerons and rudder and beep after rudder arming
static uint32_t rudder_arm_timer;
if (! arming.rudder_arming_enabled()) {
if (arming_rudder == AP_Arming::ARMING_RUDDER_DISABLED) {
//parameter disallows rudder arming/disabling
return;
}
//if throttle is not down, then pilot cannot rudder arm/disarm
// if throttle is not down, then pilot cannot rudder arm/disarm
if (channel_throttle->control_in > 0) {
rudder_arm_timer = 0;
return;
}
//if not in a 'manual' mode then disallow rudder arming/disarming
// if not in a manual throttle mode then disallow rudder arming/disarming
if (auto_throttle_mode ) {
rudder_arm_timer = 0;
return;
@ -110,7 +108,9 @@ void Plane::rudder_arm_disarm_check()
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < 3000) {
if (rudder_arm_timer == 0) rudder_arm_timer = now;
if (rudder_arm_timer == 0) {
rudder_arm_timer = now;
}
} else {
//time to arm!
arm_motors(AP_Arming::RUDDER);
@ -120,15 +120,16 @@ void Plane::rudder_arm_disarm_check()
// not at full right rudder
rudder_arm_timer = 0;
}
} else if (!is_flying()) {
} else if (arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM && !is_flying()) {
// when armed and not flying, full left rudder starts disarming counter
if (channel_rudder->control_in < -4000) {
uint32_t now = millis();
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < 3000) {
if (rudder_arm_timer == 0) rudder_arm_timer = now;
if (rudder_arm_timer == 0) {
rudder_arm_timer = now;
}
} else {
//time to disarm!
disarm_motors();