fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: simplify rc arming disabling logic

Browse Source
This commit is contained in:
Matthias Grob 2021-02-17 15:27:37 +01:00
parent ca3bfb5ea1
commit 49c240f49e
2 changed files with 13 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
src/modules/commander/Commander.cpp
View File

@ -2144,26 +2144,21 @@ Commander::run()
_status.rc_signal_lost = false;
/* DISARM
* check if left stick is in lower left position or arm button is pushed or arm switch has transition from arm to disarm
* and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed)
* do it only for rotary wings in manual mode or fixed wing if landed.
* Disable stick-disarming if arming switch or button is mapped */
if (_manual_control.wantsDisarm(_vehicle_control_mode, _status, _manual_control_switches, _land_detector.landed)) {
disarm(arm_disarm_reason_t::RC_STICK);
}
const bool rc_arming_enabled = (_status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF);
/* ARM
* check if left stick is in lower right position or arm button is pushed or arm switch has transition from disarm to arm
* and we're in MANUAL mode.
* Disable stick-arming if arming switch or button is mapped */
if (_manual_control.wantsArm(_vehicle_control_mode, _status, _manual_control_switches, _land_detector.landed)) {
if (_vehicle_control_mode.flag_control_manual_enabled) {
arm(arm_disarm_reason_t::RC_STICK);
if (rc_arming_enabled) {
if (_manual_control.wantsDisarm(_vehicle_control_mode, _status, _manual_control_switches, _land_detector.landed)) {
disarm(arm_disarm_reason_t::RC_STICK);
}
} else {
mavlink_log_critical(&_mavlink_log_pub, "Not arming! Switch to a manual mode first");
tune_negative(true);
if (_manual_control.wantsArm(_vehicle_control_mode, _status, _manual_control_switches, _land_detector.landed)) {
if (_vehicle_control_mode.flag_control_manual_enabled) {
arm(arm_disarm_reason_t::RC_STICK);
} else {
mavlink_log_critical(&_mavlink_log_pub, "Not arming! Switch to a manual mode first");
tune_negative(true);
}
}
}

2
src/modules/commander/ManualControl.cpp
View File

@ -111,7 +111,6 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
&& !vehicle_control_mode.flag_control_climb_rate_enabled;
if (armed
&& (vehicle_status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF)
&& (landed || mc_manual_thrust_mode)
&& (stick_in_lower_left || arm_button_pressed || arm_switch_to_disarm_transition)) {
@ -151,7 +150,6 @@ bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode,
&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
if (!armed
&& (vehicle_status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF)
&& (stick_in_lower_right || arm_button_pressed || arm_switch_to_arm_transition)) {
const bool last_arm_hysteresis = _stick_arm_hysteresis.get_state();