From 9e9da38c67a7bcc4aa1ef2796fe6cbeeb41a5cfc Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Wed, 19 Oct 2011 20:09:06 -0400
Subject: [PATCH] Arming fixes.

---
 apo/QuadArducopter.h                 | 4 ++--
 libraries/APO/AP_ArmingMechanism.cpp | 4 ++--
 libraries/APO/AP_ArmingMechanism.h   | 2 +-
 libraries/APO/AP_Autopilot.cpp       | 8 ++++----
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/apo/QuadArducopter.h b/apo/QuadArducopter.h
index 47c438f123..80d6c6cb06 100644
--- a/apo/QuadArducopter.h
+++ b/apo/QuadArducopter.h
@@ -55,8 +55,8 @@ static const bool rangeFinderDownEnabled = false;
 
 // loop rates
 static const float loopRate = 250; // attitude nav
-static const float loop0Rate = 40; // controller
-static const float loop1Rate = 5; 	// pos nav/ gcs fast
+static const float loop0Rate = 50; // controller
+static const float loop1Rate = 10; 	// pos nav/ gcs fast
 static const float loop2Rate = 1; 	// gcs slow
 static const float loop3Rate = 0.1;
 
diff --git a/libraries/APO/AP_ArmingMechanism.cpp b/libraries/APO/AP_ArmingMechanism.cpp
index e27d19a246..0b80bc3895 100644
--- a/libraries/APO/AP_ArmingMechanism.cpp
+++ b/libraries/APO/AP_ArmingMechanism.cpp
@@ -15,7 +15,7 @@ namespace apo {
 void AP_ArmingMechanism::update(const float dt) {
 
     // arming
-    if ( (_hal->getState() != MAV_STATE_ACTIVE) &
+    if ( (_hal->getState() != MAV_STATE_ACTIVE) &&
      (_hal->rc[_ch1]->getRadioPosition() < _ch1Min) &&
      (_hal->rc[_ch2]->getRadioPosition() < _ch2Min) ) {
 
@@ -30,7 +30,7 @@ void AP_ArmingMechanism::update(const float dt) {
         }
     }
     // disarming
-    else if ( (_hal->getState() == MAV_STATE_ACTIVE) &
+    else if ( (_hal->getState() == MAV_STATE_ACTIVE) &&
          (_hal->rc[_ch1]->getRadioPosition() < _ch1Min) &&
          (_hal->rc[_ch2]->getRadioPosition() > _ch2Max) ) {
 
diff --git a/libraries/APO/AP_ArmingMechanism.h b/libraries/APO/AP_ArmingMechanism.h
index 8186af095a..e172d822ee 100644
--- a/libraries/APO/AP_ArmingMechanism.h
+++ b/libraries/APO/AP_ArmingMechanism.h
@@ -28,7 +28,7 @@ public:
     AP_ArmingMechanism(AP_HardwareAbstractionLayer * hal,
             uint8_t ch1, uint8_t ch2, float ch1Min, float ch2Min,
             float ch2Max) : _armingClock(0), _hal(hal), _ch1(ch1), _ch2(ch2),
-            _ch1Min(ch1Min), _ch2Min(ch2Min) {
+            _ch1Min(ch1Min), _ch2Min(ch2Min), _ch2Max(ch2Max) {
     }
 
     /**
diff --git a/libraries/APO/AP_Autopilot.cpp b/libraries/APO/AP_Autopilot.cpp
index 25f5e22674..dc1f246d0a 100644
--- a/libraries/APO/AP_Autopilot.cpp
+++ b/libraries/APO/AP_Autopilot.cpp
@@ -98,9 +98,9 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
 	 */
 	hal->debug->println_P(PSTR("attaching loops"));
 	subLoops().push_back(new Loop(loop0Rate, callback0, this));
-	subLoops()[0]->subLoops().push_back(new Loop(loop1Rate, callback1, this));
-	subLoops()[0]->subLoops()[0]->subLoops().push_back(new Loop(loop2Rate, callback2, this));
-	subLoops()[0]->subLoops()[0]->subLoops()[0]->subLoops().push_back(new Loop(loop3Rate, callback3, this));
+	subLoops().push_back(new Loop(loop1Rate, callback1, this));
+	subLoops().push_back(new Loop(loop2Rate, callback2, this));
+	subLoops().push_back(new Loop(loop3Rate, callback3, this));
 
 	hal->debug->println_P(PSTR("running"));
 	hal->gcs->sendText(SEVERITY_LOW, PSTR("running"));
@@ -162,7 +162,7 @@ void AP_Autopilot::callback1(void * data) {
 	 * slow navigation loop update
 	 */
 	if (apo->getNavigator()) {
-		apo->getNavigator()->updateSlow(apo->subLoops()[0]->subLoops()[0]->dt());
+		apo->getNavigator()->updateSlow(apo->subLoops()[1]->dt());
 	}
 
 	/*