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author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-29 20:49:54 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-29 20:49:54 +0400 |
commit | 2f1de6621b34f76ddf3a0ff00ac8e9fcb8e60bea (patch) | |
tree | 659225cefcc11a1f2380f49e7f02b8c65a352c39 | |
parent | d3eb86d0ea000add6e2747fda58f77a88b05314c (diff) | |
download | px4-firmware-2f1de6621b34f76ddf3a0ff00ac8e9fcb8e60bea.tar.gz px4-firmware-2f1de6621b34f76ddf3a0ff00ac8e9fcb8e60bea.tar.bz2 px4-firmware-2f1de6621b34f76ddf3a0ff00ac8e9fcb8e60bea.zip |
More strict conditions for arm/disarm
-rw-r--r-- | src/modules/commander/commander.c | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index bb8580328..bb3aac0ff 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -1857,8 +1857,10 @@ int commander_thread_main(int argc, char *argv[]) (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) ) && - ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) && - (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) { + 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_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); stick_on_counter = 0; @@ -1870,7 +1872,10 @@ 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) { update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); stick_on_counter = 0; |