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Plane: add E-stop

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IamPete1 2019-02-26 00:25:11 +00:00 committed by Randy Mackay
parent 4f9b8e1b6c
commit f24c6785f2
2 changed files with 10 additions and 1 deletions
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5
ArduPlane/AP_Arming.cpp
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@ -74,6 +74,11 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
ret = false; ret = false;
} }
if (SRV_Channels::get_emergency_stop()) {
check_failed(ARMING_CHECK_NONE, display_failure,"Motors Emergency Stopped");
ret = false;
}
return ret; return ret;
} }

6
ArduPlane/quadplane.cpp
View File

@ -1479,6 +1479,10 @@ void QuadPlane::update(void)
return; return;
} }
if (SRV_Channels::get_emergency_stop()) {
attitude_control->reset_rate_controller_I_terms();
}
if (!hal.util->get_soft_armed()) { if (!hal.util->get_soft_armed()) {
/* /*
make sure we don't have any residual control from previous flight stages make sure we don't have any residual control from previous flight stages
@ -1649,7 +1653,7 @@ void QuadPlane::motors_output(bool run_rate_controller)
attitude_control->rate_controller_run(); attitude_control->rate_controller_run();
} }
if (!hal.util->get_soft_armed() || plane.afs.should_crash_vehicle()) { if (!hal.util->get_soft_armed() || plane.afs.should_crash_vehicle() || SRV_Channels::get_emergency_stop()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN); motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
motors->output(); motors->output();
return; return;