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Code Issues Wiki Activity

remove setting which disallow disarming on throttle above low

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This commit is contained in:
Steffen Windoffer 2018-01-30 23:48:54 +01:00
parent 69297d0dc2
commit 45a6588eaf
5 changed files with 7 additions and 14 deletions
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2
src/main/fc/fc_core.c
View file

@ -482,7 +482,7 @@ bool processRx(timeUs_t currentTimeUs)
} }
} }
processRcStickPositions(throttleStatus); processRcStickPositions();
if (feature(FEATURE_INFLIGHT_ACC_CAL)) { if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState(); updateInflightCalibrationState();

11
src/main/fc/rc_controls.c
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@ -79,11 +79,10 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
.yaw_control_reversed = false, .yaw_control_reversed = false,
); );
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 0); PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 1);
PG_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
.gyro_cal_on_first_arm = 0, // TODO - Cleanup retarded arm support .gyro_cal_on_first_arm = 0, // TODO - Cleanup retarded arm support
.disarm_kill_switch = 1,
.auto_disarm_delay = 5 .auto_disarm_delay = 5
); );
@ -129,7 +128,7 @@ throttleStatus_e calculateThrottleStatus(void)
rcDelayMs -= (t); \ rcDelayMs -= (t); \
doNotRepeat = false; \ doNotRepeat = false; \
} }
void processRcStickPositions(throttleStatus_e throttleStatus) void processRcStickPositions()
{ {
// time the sticks are maintained // time the sticks are maintained
static int16_t rcDelayMs; static int16_t rcDelayMs;
@ -178,11 +177,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) { if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
rcDisarmTicks++; rcDisarmTicks++;
if (rcDisarmTicks > 3) { if (rcDisarmTicks > 3) {
if (armingConfig()->disarm_kill_switch) { disarm();
disarm();
} else if (throttleStatus == THROTTLE_LOW) {
disarm();
}
} }
} }
} }

3
src/main/fc/rc_controls.h
View file

@ -100,7 +100,6 @@ PG_DECLARE(flight3DConfig_t, flight3DConfig);
typedef struct armingConfig_s { typedef struct armingConfig_s {
uint8_t gyro_cal_on_first_arm; // allow disarm/arm on throttle down + roll left/right uint8_t gyro_cal_on_first_arm; // allow disarm/arm on throttle down + roll left/right
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0 uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
} armingConfig_t; } armingConfig_t;
@ -110,7 +109,7 @@ bool areUsingSticksToArm(void);
bool areSticksInApModePosition(uint16_t ap_mode); bool areSticksInApModePosition(uint16_t ap_mode);
throttleStatus_e calculateThrottleStatus(void); throttleStatus_e calculateThrottleStatus(void);
void processRcStickPositions(throttleStatus_e throttleStatus); void processRcStickPositions();
bool isUsingSticksForArming(void); bool isUsingSticksForArming(void);

4
src/main/interface/msp.c
View file

@ -875,7 +875,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
case MSP_ARMING_CONFIG: case MSP_ARMING_CONFIG:
sbufWriteU8(dst, armingConfig()->auto_disarm_delay); sbufWriteU8(dst, armingConfig()->auto_disarm_delay);
sbufWriteU8(dst, armingConfig()->disarm_kill_switch); sbufWriteU8(dst, 0);
sbufWriteU8(dst, imuConfig()->small_angle); sbufWriteU8(dst, imuConfig()->small_angle);
break; break;
@ -1414,7 +1414,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break; break;
case MSP_SET_ARMING_CONFIG: case MSP_SET_ARMING_CONFIG:
armingConfigMutable()->auto_disarm_delay = sbufReadU8(src); armingConfigMutable()->auto_disarm_delay = sbufReadU8(src);
armingConfigMutable()->disarm_kill_switch = sbufReadU8(src); sbufReadU8(src); // reserved
if (sbufBytesRemaining(src)) { if (sbufBytesRemaining(src)) {
imuConfigMutable()->small_angle = sbufReadU8(src); imuConfigMutable()->small_angle = sbufReadU8(src);
} }

1
src/main/interface/settings.c
View file

@ -568,7 +568,6 @@ const clivalue_t valueTable[] = {
// PG_ARMING_CONFIG // PG_ARMING_CONFIG
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 60 }, PG_ARMING_CONFIG, offsetof(armingConfig_t, auto_disarm_delay) }, { "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 60 }, PG_ARMING_CONFIG, offsetof(armingConfig_t, auto_disarm_delay) },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, disarm_kill_switch) },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, gyro_cal_on_first_arm) }, { "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, gyro_cal_on_first_arm) },