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Fix 3D arming checks for BOX3DDISABLE

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When FEATURE_3D is on and BOX3DDISABLE is on then the normal throttle
arming check is performed.

When FEATURE_3D is on and BOX3DDISABLE is off then the reduced 3D
throttle arming check is performed.
This commit is contained in:
Dan Nixon 2017-11-08 18:52:00 +00:00
parent eadcf42650
commit 0315005445
3 changed files with 115 additions and 8 deletions
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7
src/main/fc/fc_core.c
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@ -215,10 +215,13 @@ void updateArmingStatus(void)
if (!isUsingSticksForArming()) {
/* Ignore ARMING_DISABLED_CALIBRATING if we are going to calibrate gyro on first arm */
bool ignoreGyro = armingConfig()->gyro_cal_on_first_arm && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
bool ignoreGyro = armingConfig()->gyro_cal_on_first_arm
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
/* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
bool ignoreThrottle = feature(FEATURE_3D) && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
bool ignoreThrottle = feature(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3DDISABLE)
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
// If arming is disabled and the ARM switch is on
if (isArmingDisabled()