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More strict conditions for arm/disarm

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Anton Babushkin
2013-06-29 20:49:54 +04:00
parent d3eb86d0ea
commit 2f1de6621b
1 changed files with 8 additions and 3 deletions
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src/modules/commander/commander.c
+8 -3
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@@ -1857,8 +1857,10 @@ int commander_thread_main(int argc, char *argv[])
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR) (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
) && ) &&
((sp_man.yaw < -STICK_ON_OFF_LIMIT)) && current_status.flag_control_manual_enabled &&
(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) { current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS &&
sp_man.yaw < -STICK_ON_OFF_LIMIT &&
sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
update_state_machine_disarm(stat_pub, &current_status, mavlink_fd); update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
stick_on_counter = 0; stick_on_counter = 0;
@@ -1870,7 +1872,10 @@ int commander_thread_main(int argc, char *argv[])
} }
/* check if left stick is in lower right position --> arm */ /* check if left stick is in lower right position --> arm */
if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) { if (current_status.flag_control_manual_enabled &&
current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS &&
sp_man.yaw > STICK_ON_OFF_LIMIT &&
sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
update_state_machine_arm(stat_pub, &current_status, mavlink_fd); update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
stick_on_counter = 0; stick_on_counter = 0;