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Lorenz Meier
2013-07-15 15:02:45 +02:00
parent 88389ea255 17338ca61a
commit bf2ff98856
56 changed files with 1926 additions and 958 deletions
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src/modules/commander/commander.c
+14 -4
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@@ -917,6 +917,7 @@ int commander_thread_main(int argc, char *argv[])
/* XXX use this! */
//uint64_t failsave_ll_start_time = 0;
enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode;
bool state_changed = true;
bool param_init_forced = true;
@@ -1567,17 +1568,23 @@ int commander_thread_main(int argc, char *argv[])
*/
// printf("checking\n");
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((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
) {
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
tune_positive();
if (current_status.mode_switch != MODE_SWITCH_MANUAL) {
mavlink_log_critical(mavlink_fd, "DISARM DENY, go manual mode first");
tune_negative();
} else {
arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
tune_positive();
}
} else {
mavlink_log_critical(mavlink_fd, "STICK DISARM not allowed");
mavlink_log_critical(mavlink_fd, "DISARM not allowed");
tune_negative();
}
stick_off_counter = 0;
@@ -1589,7 +1596,10 @@ int commander_thread_main(int argc, char *argv[])
}
/* check if left stick is in lower right position --> arm */
if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) {
if (current_status.flag_control_manual_enabled &&
current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS &&
sp_man.yaw > STICK_ON_OFF_LIMIT &&
sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd);
stick_on_counter = 0;