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

Plane: move rudder-arming arm checks into Plane's AP_Arming

Browse Source
This commit is contained in:
Peter Barker 2020-12-07 10:47:39 +11:00 committed by Peter Barker
parent 9728dee344
commit 9b2ef4f6f1
2 changed files with 43 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
ArduPlane/AP_Arming.cpp
View File

@ -136,6 +136,33 @@ bool AP_Arming_Plane::ins_checks(bool display_failure)
bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
{
if (method == AP_Arming::Method::RUDDER) {
const AP_Arming::RudderArming arming_rudder = get_rudder_arming_type();
if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
//parameter disallows rudder arming/disabling
// if we emit a message here then someone doing surface
// checks may be bothered by the message being emitted.
// check_failed(true, "Rudder arming disabled");
return false;
}
// if throttle is not down, then pilot cannot rudder arm/disarm
if (plane.get_throttle_input() != 0){
check_failed(true, "Non-zero throttle");
return false;
}
// if not in a manual throttle mode and not in CRUISE or FBWB
// modes then disallow rudder arming/disarming
if (plane.auto_throttle_mode &&
(plane.control_mode != &plane.mode_cruise && plane.control_mode != &plane.mode_fbwb)) {
check_failed(true, "Mode not rudder-armable");
return false;
}
}
//are arming checks disabled?
if (checks_to_perform == 0) {
return true;
@ -205,6 +232,19 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
*/
bool AP_Arming_Plane::disarm(const AP_Arming::Method method)
{
if (method == AP_Arming::Method::RUDDER) {
// don't allow rudder-disarming in flight:
if (plane.is_flying()) {
// obviously this could happen in-flight so we can't warn about it
return false;
}
// option must be enabled:
if (get_rudder_arming_type() != AP_Arming::RudderArming::ARMDISARM) {
gcs().send_text(MAV_SEVERITY_INFO, "Rudder disarm: disabled");
return false;
}
}
if (!AP_Arming::disarm(method)) {
return false;
}

27
ArduPlane/radio.cpp
View File

@ -117,27 +117,6 @@ void Plane::init_rc_out_aux()
*/
void Plane::rudder_arm_disarm_check()
{
AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
//parameter disallows rudder arming/disabling
return;
}
// if throttle is not down, then pilot cannot rudder arm/disarm
if (get_throttle_input() != 0){
rudder_arm_timer = 0;
return;
}
// if not in a manual throttle mode and not in CRUISE or FBWB
// modes then disallow rudder arming/disarming
if (auto_throttle_mode &&
(control_mode != &mode_cruise && control_mode != &mode_fbwb)) {
rudder_arm_timer = 0;
return;
}
if (!arming.is_armed()) {
// when not armed, full right rudder starts arming counter
if (channel_rudder->get_control_in() > 4000) {
@ -158,8 +137,8 @@ void Plane::rudder_arm_disarm_check()
// not at full right rudder
rudder_arm_timer = 0;
}
} else if ((arming_rudder == AP_Arming::RudderArming::ARMDISARM) && !is_flying()) {
// when armed and not flying, full left rudder starts disarming counter
} else {
// full left rudder starts disarming counter
if (channel_rudder->get_control_in() < -4000) {
uint32_t now = millis();
@ -177,7 +156,7 @@ void Plane::rudder_arm_disarm_check()
// not at full left rudder
rudder_arm_timer = 0;
}
}
}
}
void Plane::read_radio()