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Improved fixed wing detection.

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This commit is contained in:
mikeller 2019-11-17 14:05:07 +13:00
parent 33ba8a043e
commit e0a6f1ab14
9 changed files with 52 additions and 33 deletions
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8
src/main/fc/core.c
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@ -197,7 +197,7 @@ static bool isCalibrating(void)
#ifdef USE_LAUNCH_CONTROL
bool canUseLaunchControl(void)
{
if (!STATE(FIXED_WING)
if (!isFixedWing()
&& !isUsingSticksForArming() // require switch arming for safety
&& IS_RC_MODE_ACTIVE(BOXLAUNCHCONTROL)
&& (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled()) // can't use when motors are stopped
@ -795,7 +795,7 @@ bool processRx(timeUs_t currentTimeUs)
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashActive
&& !runawayTakeoffTemporarilyDisabled
&& !STATE(FIXED_WING)) {
&& !isFixedWing()) {
// Determine if we're in "flight"
// - motors running
@ -880,7 +880,7 @@ bool processRx(timeUs_t currentTimeUs)
const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6;
if (ARMING_FLAG(ARMED)
&& featureIsEnabled(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !isFixedWing()
&& !featureIsEnabled(FEATURE_3D)
&& !airmodeIsEnabled()
&& !FLIGHT_MODE(GPS_RESCUE_MODE) // disable auto-disarm when GPS Rescue is active
@ -1082,7 +1082,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
// and gyro rate for any axis is above the limit for at least the activate delay period.
// If so, disarm for safety
if (ARMING_FLAG(ARMED)
&& !STATE(FIXED_WING)
&& !isFixedWing()
&& pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashActive