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Reworked arming conditions.

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This commit is contained in:
mikeller 2017-06-19 00:40:59 +12:00
parent fb0429597f
commit 31df82db2d
20 changed files with 149 additions and 107 deletions
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7
src/main/flight/failsafe.c
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@ -30,6 +30,7 @@
#include "drivers/time.h"
#include "fc/config.h"
#include "fc/fc_core.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
@ -261,8 +262,8 @@ void failsafeUpdateState(void)
break;
case FAILSAFE_LANDED:
ENABLE_ARMING_FLAG(PREVENT_ARMING); // To prevent accidently rearming by an intermittent rx link
mwDisarm();
setArmingDisabled(ARMING_DISABLED_FAILSAFE); // To prevent accidently rearming by an intermittent rx link
disarm();
failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset; // set required period of valid rxData
failsafeState.phase = FAILSAFE_RX_LOSS_MONITORING;
reprocessState = true;
@ -274,7 +275,7 @@ void failsafeUpdateState(void)
if (millis() > failsafeState.receivingRxDataPeriod) {
// rx link is good now, when arming via ARM switch, it must be OFF first
if (!(!isUsingSticksForArming() && IS_RC_MODE_ACTIVE(BOXARM))) {
DISABLE_ARMING_FLAG(PREVENT_ARMING);
unsetArmingDisabled(ARMING_DISABLED_FAILSAFE);
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
}