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Commander: remove not disarming by RC message

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Refactoring the condition to be more clear.
This commit is contained in:
Matthias Grob
2019-07-30 16:31:43 +01:00
parent 41516fbd55
commit 4f44fde080
1 changed files with 7 additions and 7 deletions
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src/modules/commander/Commander.cpp
+7 -7
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@@ -1978,14 +1978,14 @@ Commander::run()
(status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || land_detector.landed) &&
(stick_in_lower_left || arm_button_pressed || arm_switch_to_disarm_transition)) {
if (internal_state.main_state != commander_state_s::MAIN_STATE_MANUAL &&
internal_state.main_state != commander_state_s::MAIN_STATE_ACRO &&
internal_state.main_state != commander_state_s::MAIN_STATE_STAB &&
internal_state.main_state != commander_state_s::MAIN_STATE_RATTITUDE &&
!land_detector.landed) {
print_reject_arm("Not disarming! Not yet in manual mode or landed");
const bool manual_thrust_mode = internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL
|| internal_state.main_state == commander_state_s::MAIN_STATE_ACRO
|| internal_state.main_state == commander_state_s::MAIN_STATE_STAB
|| internal_state.main_state == commander_state_s::MAIN_STATE_RATTITUDE;
const bool rc_wants_disarm = (stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst)
|| arm_switch_to_disarm_transition;
} else if ((stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) || arm_switch_to_disarm_transition) {
if (rc_wants_disarm && (land_detector.landed || manual_thrust_mode)) {
arming_ret = arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed,
true /* fRunPreArmChecks */,
&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));