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Code Issues Wiki Activity

AIR MODE Safety Enhancements

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This commit is contained in:
borisbstyle 2015-12-08 00:22:49 +01:00
parent 72e9a4dc17
commit b84e9f4676
5 changed files with 46 additions and 18 deletions
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11
src/main/io/rc_controls.c
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@ -65,6 +65,7 @@ static pidProfile_t *pidProfile;
// true if arming is done via the sticks (as opposed to a switch)
static bool isUsingSticksToArm = true;
static bool rollPitchCentered = true; // Roll and pitch are centered, AIR Mode condition
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
@ -106,6 +107,10 @@ bool isUsingSticksForArming(void)
return isUsingSticksToArm;
}
bool isRollPitchCentered(void)
{
return rollPitchCentered;
}
bool areSticksInApModePosition(uint16_t ap_mode)
{
@ -146,6 +151,12 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
rcDelayCommand = 0;
rcSticks = stTmp;
if (rcSticks == PIT_CE + ROL_CE) {
rollPitchCentered = true;
} else {
rollPitchCentered = false;
}
// perform actions
if (!isUsingSticksToArm) {