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Allow disarm by RC in assisted modes if landed and in AUTO_READY state.

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This commit is contained in:
Anton Babushkin
2013-08-24 20:31:01 +02:00
parent c42c28ebf4
commit 8579d0b7c9
1 changed files with 26 additions and 29 deletions
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src/modules/commander/commander.cpp
+26 -29
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@@ -1017,46 +1017,42 @@ int commander_thread_main(int argc, char *argv[])
/* arm/disarm by RC */
res = TRANSITION_NOT_CHANGED;
/* check if left stick is in lower left position and we are in MANUAL or AUTO mode -> disarm
/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY)) {
if (sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
res = arming_state_transition(&status, &safety, new_arming_state, &armed);
stick_off_counter = 0;
} else {
stick_off_counter++;
}
stick_on_counter = 0;
(status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY ||
(status.condition_landed && (
status.navigation_state == NAVIGATION_STATE_ALTHOLD ||
status.navigation_state == NAVIGATION_STATE_VECTOR
))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
res = arming_state_transition(&status, &safety, new_arming_state, &armed);
stick_off_counter = 0;
} else {
stick_off_counter = 0;
stick_off_counter++;
}
} else {
stick_off_counter = 0;
}
/* check if left stick is in lower right position and we're in manual mode -> arm */
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (status.arming_state == ARMING_STATE_STANDBY &&
status.main_state == MAIN_STATE_MANUAL) {
if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
stick_on_counter = 0;
} else {
stick_on_counter++;
}
stick_off_counter = 0;
status.main_state == MAIN_STATE_MANUAL &&
sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
stick_on_counter = 0;
} else {
stick_on_counter = 0;
stick_on_counter++;
}
} else {
stick_on_counter = 0;
}
if (res == TRANSITION_CHANGED) {
@@ -1702,7 +1698,8 @@ void *commander_low_prio_loop(void *arg)
/* ignore commands the high-prio loop handles */
if (cmd.command == VEHICLE_CMD_DO_SET_MODE ||
cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM)
cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM ||
cmd.command == VEHICLE_CMD_NAV_TAKEOFF)
continue;
/* only handle low-priority commands here */