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Commander: simplify rc arming disabling logic

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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
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src/modules/commander/Commander.cpp
+13 -18
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@@ -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);
}
}
}