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Arm button fix: toggle arming state only once per arm button press

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This commit is contained in:
Matthias Grob 2016-12-01 17:59:00 +01:00 committed by Lorenz Meier
parent 8a75827d6a
commit 94c8371ffe
1 changed files with 6 additions and 13 deletions
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19
src/modules/commander/commander.cpp
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@ -2571,7 +2571,7 @@ int commander_thread_main(int argc, char *argv[])
land_detector.landed) &&
((sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) {
if (stick_off_counter > rc_arm_hyst) {
if (stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
@ -2590,14 +2590,10 @@ int commander_thread_main(int argc, char *argv[])
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
stick_off_counter = 0;
} else {
stick_off_counter++;
}
stick_off_counter++;
} else {
} else if (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
stick_off_counter = 0;
}
@ -2605,7 +2601,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
(status.arming_state != vehicle_status_s::ARMING_STATE_ARMED && status.arming_state != vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
((sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) {
if (stick_on_counter > rc_arm_hyst) {
if (stick_on_counter == rc_arm_hyst && stick_off_counter < rc_arm_hyst) {
/* we check outside of the transition function here because the requirement
* for being in manual mode only applies to manual arming actions.
@ -2645,13 +2641,10 @@ int commander_thread_main(int argc, char *argv[])
print_reject_arm("NOT ARMING: Preflight checks failed");
}
}
stick_on_counter = 0;
} else {
stick_on_counter++;
}
stick_on_counter++;
} else {
} else if (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
stick_on_counter = 0;
}