fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 12:40:35 +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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/ManualControl.cpp
-2
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();