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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-29 21:01:20 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-29 21:01:20 +0400 |
| commit | aeb363720925cf25fe159b065dbc55717d73c165 (patch) | |
| tree | 2280933260aaba6aa222a2ffb4ee150ef177b939 /src/modules | |
| parent | 7dfaed3ee7718c15731070f3e3bd54d725f72029 (diff) | |
| parent | 2f1de6621b34f76ddf3a0ff00ac8e9fcb8e60bea (diff) | |
| download | px4-firmware-aeb363720925cf25fe159b065dbc55717d73c165.tar.gz px4-firmware-aeb363720925cf25fe159b065dbc55717d73c165.tar.bz2 px4-firmware-aeb363720925cf25fe159b065dbc55717d73c165.zip | |
Merge branch 'arm_safe_fix' into seatbelt_multirotor
Diffstat (limited to 'src/modules')
| -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; |