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Fix 3D arming checks for throttle value

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When FEATURE_3D is on the arm switch does not need to be toggled when
the throttle returns to a valid value (i.e. in the 3D deadband) from
either direction.

This allows the previous "arm and slowly raise throttle" arming
behaviour for 3D flight.
This commit is contained in:
Dan Nixon 2017-11-08 13:50:31 +00:00
parent 8962f0af40
commit eadcf42650
2 changed files with 78 additions and 2 deletions
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11
src/main/fc/fc_core.c
View file

@ -214,8 +214,17 @@ void updateArmingStatus(void)
}
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 = feature(FEATURE_3D) && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
// If arming is disabled and the ARM switch is on
if (isArmingDisabled() && !(armingConfig()->gyro_cal_on_first_arm && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING))) && IS_RC_MODE_ACTIVE(BOXARM)) {
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);