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Fixed disarming bug, use flag instead of mode switch

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Julian Oes
2013-07-16 13:24:02 +02:00
parent 6dc3fcd1ad
commit 76edfa896b
1 changed files with 3 additions and 5 deletions
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src/modules/commander/commander.c
+3 -5
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@@ -1387,8 +1387,7 @@ int commander_thread_main(int argc, char *argv[])
* Check if left stick is in lower left position --> switch to standby state. * Check if left stick is in lower left position --> switch to standby state.
* Do this only for multirotors, not for fixed wing aircraft. * Do this only for multirotors, not for fixed wing aircraft.
*/ */
// printf("checking\n"); if ((sp_man.yaw < -STICK_ON_OFF_LIMIT) && (sp_man.throttle < STICK_THRUST_RANGE * 0.1f)) {
if ((sp_man.yaw < -STICK_ON_OFF_LIMIT) && (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
@@ -1396,7 +1395,7 @@ 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)
) { ) {
if (current_status.mode_switch != MODE_SWITCH_MANUAL) { if (control_mode.flag_control_position_enabled || control_mode.flag_control_velocity_enabled) {
mavlink_log_critical(mavlink_fd, "DISARM DENY, go manual mode first"); mavlink_log_critical(mavlink_fd, "DISARM DENY, go manual mode first");
tune_negative(); tune_negative();
} else { } else {
@@ -1417,8 +1416,7 @@ int commander_thread_main(int argc, char *argv[])
} }
/* check if left stick is in lower right position and we're in manual --> arm */ /* check if left stick is in lower right position and we're in manual --> arm */
if (!control_mode.flag_control_position_enabled && !control_mode.flag_control_velocity_enabled && if (sp_man.yaw > STICK_ON_OFF_LIMIT &&
sp_man.yaw > STICK_ON_OFF_LIMIT &&
sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { 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) {
arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd); arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd);