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Copter: set the ahrs.set_armed() flag

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This commit is contained in:
Andrew Tridgell 2014-02-19 10:53:44 +11:00
parent 33851030a4
commit a45d77f893
2 changed files with 3 additions and 0 deletions
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1
ArduCopter/Parameters.pde
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@ -1050,6 +1050,7 @@ static void load_parameters(void)
} }
// disable centrifugal force correction, it will be enabled as part of the arming process // disable centrifugal force correction, it will be enabled as part of the arming process
ahrs.set_correct_centrifugal(false); ahrs.set_correct_centrifugal(false);
ahrs.set_armed(false);
// setup different AHRS gains for ArduCopter than the default // setup different AHRS gains for ArduCopter than the default
// but allow users to override in their config // but allow users to override in their config

2
ArduCopter/motors.pde
View File

@ -172,6 +172,7 @@ static void init_arm_motors()
// enable gps velocity based centrefugal force compensation // enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true); ahrs.set_correct_centrifugal(true);
ahrs.set_armed(true);
// set hover throttle // set hover throttle
motors.set_mid_throttle(g.throttle_mid); motors.set_mid_throttle(g.throttle_mid);
@ -527,6 +528,7 @@ static void init_disarm_motors()
// disable gps velocity based centrefugal force compensation // disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false); ahrs.set_correct_centrifugal(false);
ahrs.set_armed(false);
} }
/***************************************** /*****************************************