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| author | Julian Oes <julian@oes.ch> | 2013-07-16 13:24:02 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-07-16 13:24:02 +0200 |
| commit | 76edfa896b57782d7a4333bcf7a582952cb0fae4 (patch) | |
| tree | c5bfe1d8c0825a7638db66c81c5c3cbc4cbf7309 /src/modules/commander/commander.c | |
| parent | 6dc3fcd1ad108bc830231c1da50982e18eb7f799 (diff) | |
| download | px4-firmware-76edfa896b57782d7a4333bcf7a582952cb0fae4.tar.gz px4-firmware-76edfa896b57782d7a4333bcf7a582952cb0fae4.tar.bz2 px4-firmware-76edfa896b57782d7a4333bcf7a582952cb0fae4.zip | |
Fixed disarming bug, use flag instead of mode switch
Diffstat (limited to 'src/modules/commander/commander.c')
| -rw-r--r-- | src/modules/commander/commander.c | 8 |
1 files changed, 3 insertions, 5 deletions
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index b457d98a1..144fda79a 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -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. * 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 * 0.2f)) { + 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) { @@ -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_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"); tune_negative(); } 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 */ - if (!control_mode.flag_control_position_enabled && !control_mode.flag_control_velocity_enabled && - sp_man.yaw > STICK_ON_OFF_LIMIT && + 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) { arming_state_transition(status_pub, ¤t_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd); |