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don't allow arming/disarming by rc if rc control is disabled

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tumbili
2015-10-04 19:59:40 +02:00
parent dc31cbb4f9
commit 21c66dd863
1 changed files with 2 additions and 2 deletions
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src/modules/commander/commander.cpp
+2 -2
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@@ -1899,7 +1899,7 @@ int commander_thread_main(int argc, char *argv[])
/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm
* do it only for rotary wings */
if (status.is_rotary_wing &&
if (status.is_rotary_wing && status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
(status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
(status.main_state == vehicle_status_s::MAIN_STATE_MANUAL ||
status.main_state == vehicle_status_s::MAIN_STATE_ACRO ||
@@ -1929,7 +1929,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f && status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF ) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* we check outside of the transition function here because the requirement