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Copter: auto disarm in Loiter, AltHold after 15sec

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This commit is contained in:
Randy Mackay 2013-11-18 16:13:15 +09:00
parent 699a5bd381
commit 9ee308efd5
1 changed files with 12 additions and 6 deletions
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18
ArduCopter/motors.pde
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@ -3,7 +3,7 @@
#define ARM_DELAY 20 // called at 10hz so 2 seconds
#define DISARM_DELAY 20 // called at 10hz so 2 seconds
#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define AUTO_DISARMING_DELAY 25 // called at 1hz so 25 seconds
#define AUTO_DISARMING_DELAY 15 // called at 1hz so 15 seconds
// arm_motors_check - checks for pilot input to arm or disarm the copter
// called at 10hz
@ -88,19 +88,25 @@ static void arm_motors_check()
}
}
// auto_disarm_check - disarms the copter if it has been sitting on the ground in manual mode with throttle low for at least 25 seconds
// auto_disarm_check - disarms the copter if it has been sitting on the ground in manual mode with throttle low for at least 15 seconds
// called at 1hz
static void auto_disarm_check()
{
static uint8_t auto_disarming_counter;
if(manual_flight_mode(control_mode) && (g.rc_3.control_in == 0) && motors.armed()) {
// exit immediately if we are already disarmed or throttle is not zero
if (!motors.armed() || g.rc_3.control_in > 0) {
auto_disarming_counter = 0;
return;
}
// allow auto disarm in manual flight modes or Loiter/AltHold if we're landed
if(manual_flight_mode(control_mode) || (ap.land_complete && (control_mode == LOITER || control_mode == ALT_HOLD))) {
auto_disarming_counter++;
if(auto_disarming_counter == AUTO_DISARMING_DELAY) {
if(auto_disarming_counter >= AUTO_DISARMING_DELAY) {
init_disarm_motors();
}else if (auto_disarming_counter > AUTO_DISARMING_DELAY) {
auto_disarming_counter = AUTO_DISARMING_DELAY + 1;
auto_disarming_counter = 0;
}
}else{
auto_disarming_counter = 0;