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Copter: allow arming in AltHold and Loiter if landed

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This commit is contained in:
Randy Mackay 2013-07-27 17:28:35 +09:00
parent 24d15517ff
commit dbc18ee900
1 changed files with 13 additions and 2 deletions
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15
ArduCopter/motors.pde
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@ -10,6 +10,7 @@
static void arm_motors_check()
{
static int16_t arming_counter;
bool allow_arming = false;
// ensure throttle is down
if (g.rc_3.control_in > 0) {
@ -17,8 +18,18 @@ static void arm_motors_check()
return;
}
// ensure we are in Stabilize, Acro or TOY mode
if ((control_mode > ACRO) && ((control_mode != TOY_A) && (control_mode != TOY_M))) {
// allow arming/disarming in ACRO, STABILIZE and TOY flight modes
if (control_mode == ACRO || control_mode == STABILIZE || control_mode == TOY_A || control_mode == TOY_M) {
allow_arming = true;
}
// allow arming/disarming in Loiter and AltHold if landed
if (ap.land_complete && (control_mode == LOITER || control_mode == ALT_HOLD)) {
allow_arming = true;
}
// kick out other flight modes
if (!allow_arming) {
arming_counter = 0;
return;
}