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Added 'disabled' motor protocol and made it the default.

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This commit is contained in:
mikeller 2020-03-22 10:35:07 +13:00
parent 7f00659a88
commit d1ac12eccd
17 changed files with 193 additions and 149 deletions
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51
src/main/fc/core.c
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@ -388,33 +388,37 @@ void updateArmingStatus(void)
}
#endif
if (!isMotorProtocolEnabled()) {
setArmingDisabled(ARMING_DISABLED_MOTOR_PROTOCOL);
}
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));
/* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
bool ignoreThrottle = featureIsEnabled(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3D)
&& !flight3DConfig()->switched_mode3d
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
#ifdef USE_RUNAWAY_TAKEOFF
unsetArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
unsetArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
#endif
unsetArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
}
unsetArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
}
// If arming is disabled and the ARM switch is on
if (isArmingDisabled()
&& !ignoreGyro
&& !ignoreThrottle
&& IS_RC_MODE_ACTIVE(BOXARM)) {
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
} else if (!IS_RC_MODE_ACTIVE(BOXARM)) {
unsetArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
}
/* 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));
/* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
bool ignoreThrottle = featureIsEnabled(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3D)
&& !flight3DConfig()->switched_mode3d
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
// If arming is disabled and the ARM switch is on
if (isArmingDisabled()
&& !ignoreGyro
&& !ignoreThrottle
&& IS_RC_MODE_ACTIVE(BOXARM)) {
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
} else if (!IS_RC_MODE_ACTIVE(BOXARM)) {
unsetArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
}
}
if (isArmingDisabled()) {
@ -732,7 +736,6 @@ bool isAirmodeActivated()
}
/*
* processRx called from taskUpdateRxMain
*/