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Add option for gyro calibration on first arm // Remove Retarded Arm

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This commit is contained in:
borisbstyle 2016-03-21 01:22:40 +01:00
parent 7e4c64056d
commit 4ec5166c0f
6 changed files with 10 additions and 20 deletions
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17
src/main/io/rc_controls.c
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@ -130,7 +130,7 @@ rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
return NOT_CENTERED;
}
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
@ -195,15 +195,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
// Disarm on roll (only when retarded_arm is enabled)
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO)) {
if (ARMING_FLAG(ARMED))
mwDisarm();
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
}
if (ARMING_FLAG(ARMED)) {
@ -261,12 +252,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
mwArm();
return;
}
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
// Arm via ROLL
mwArm();
return;
}
}
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {