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Add in prearm option for safer arming.

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When prearm is used, it must be enabled before arming.  Before you can arm again, the prearm switch needs to get toggled. (+3 squashed commit)
This commit is contained in:
Bryce Johnson 2017-07-30 14:22:26 -05:00
parent 5b31ca2916
commit f8bd089e47
4 changed files with 29 additions and 10 deletions
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14
src/main/fc/fc_core.c
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@ -182,6 +182,13 @@ void updateArmingStatus(void)
unsetArmingDisabled(ARMING_DISABLED_CALIBRATING);
}
if ((isModeActivationConditionPresent(BOXPREARM) && IS_RC_MODE_ACTIVE(BOXPREARM) && !ARMING_FLAG(WAS_ARMED_WITH_PREARM))
|| !isModeActivationConditionPresent(BOXPREARM)) {
unsetArmingDisabled(ARMING_DISABLED_NOPREARM);
} else {
setArmingDisabled(ARMING_DISABLED_NOPREARM);
}
if (isArmingDisabled()) {
warningLedFlash();
} else {
@ -237,6 +244,9 @@ void tryArm(void)
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
if (isModeActivationConditionPresent(BOXPREARM)) {
ENABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
@ -451,6 +461,10 @@ void processRx(timeUs_t currentTimeUs)
LED1_OFF;
}
if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
DISABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
#if defined(ACC) || defined(MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(GPS) || defined(MAG)