From 8579d0b7c9f77c84fa9afa87f7ab2f353443a242 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 24 Aug 2013 20:31:01 +0200 Subject: Allow disarm by RC in assisted modes if landed and in AUTO_READY state. --- src/modules/commander/commander.cpp | 55 ++++++++++++++++++------------------- 1 file changed, 26 insertions(+), 29 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3654839fb..f5a9d4088 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1017,46 +1017,42 @@ int commander_thread_main(int argc, char *argv[]) /* arm/disarm by RC */ res = TRANSITION_NOT_CHANGED; - /* check if left stick is in lower left position and we are in MANUAL or AUTO mode -> disarm + /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY)) { - 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) { - /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ - arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - res = arming_state_transition(&status, &safety, new_arming_state, &armed); - stick_off_counter = 0; - - } else { - stick_off_counter++; - } - - stick_on_counter = 0; + (status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY || + (status.condition_landed && ( + status.navigation_state == NAVIGATION_STATE_ALTHOLD || + status.navigation_state == NAVIGATION_STATE_VECTOR + ))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { + /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ + arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + res = arming_state_transition(&status, &safety, new_arming_state, &armed); + stick_off_counter = 0; } else { - stick_off_counter = 0; + stick_off_counter++; } + } else { + stick_off_counter = 0; } - /* check if left stick is in lower right position and we're in manual mode -> arm */ + /* check if left stick is in lower right position and we're in MANUAL mode -> arm */ if (status.arming_state == ARMING_STATE_STANDBY && - status.main_state == MAIN_STATE_MANUAL) { - 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) { - res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); - stick_on_counter = 0; - - } else { - stick_on_counter++; - } - - stick_off_counter = 0; + status.main_state == MAIN_STATE_MANUAL && + sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { + res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + stick_on_counter = 0; } else { - stick_on_counter = 0; + stick_on_counter++; } + + } else { + stick_on_counter = 0; } if (res == TRANSITION_CHANGED) { @@ -1702,7 +1698,8 @@ void *commander_low_prio_loop(void *arg) /* ignore commands the high-prio loop handles */ if (cmd.command == VEHICLE_CMD_DO_SET_MODE || - cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM) + cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM || + cmd.command == VEHICLE_CMD_NAV_TAKEOFF) continue; /* only handle low-priority commands here */ -- cgit v1.2.3