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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
Download patch file Download diff file Expand all files Collapse all files

14
src/main/fc/fc_core.c
View file

@ -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)

3
src/main/fc/fc_msp_box.c
View file

@ -77,6 +77,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
{ BOXCAMERA2, "CAMERA CONTROL 2", 33},
{ BOXCAMERA3, "CAMERA CONTROL 3", 34 },
{ BOXDSHOTREVERSE, "DSHOT REVERSE MOTORS", 35 },
{ BOXPREARM, "PREARM", 36 },
};
// mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index
@ -147,7 +148,7 @@ void initActiveBoxIds(void)
// macro to enable boxId (BoxidMaskEnable). Reference to ena is hidden, local use only
#define BME(boxId) do { bitArraySet(&ena, boxId); } while (0)
BME(BOXARM);
BME(BOXPREARM);
if (!feature(FEATURE_AIRMODE)) {
BME(BOXAIRMODE);
}

1
src/main/fc/rc_modes.h
View file

@ -58,6 +58,7 @@ typedef enum {
BOXCAMERA2,
BOXCAMERA3,
BOXDSHOTREVERSE,
BOXPREARM,
CHECKBOX_ITEM_COUNT
} boxId_e;

21
src/main/fc/runtime_config.h
View file

@ -19,8 +19,9 @@
// FIXME some of these are flight modes, some of these are general status indicators
typedef enum {
ARMED = (1 << 0),
WAS_EVER_ARMED = (1 << 1)
ARMED = (1 << 0),
WAS_EVER_ARMED = (1 << 1),
WAS_ARMED_WITH_PREARM = (1 << 2)
} armingFlag_e;
extern uint8_t armingFlags;
@ -40,15 +41,17 @@ typedef enum {
ARMING_DISABLED_BOXFAILSAFE = (1 << 3),
ARMING_DISABLED_THROTTLE = (1 << 4),
ARMING_DISABLED_ANGLE = (1 << 5),
ARMING_DISABLED_LOAD = (1 << 6),
ARMING_DISABLED_CALIBRATING = (1 << 7),
ARMING_DISABLED_CLI = (1 << 8),
ARMING_DISABLED_CMS_MENU = (1 << 9),
ARMING_DISABLED_OSD_MENU = (1 << 10),
ARMING_DISABLED_BST = (1 << 11)
ARMING_DISABLED_NOPREARM = (1 << 6),
ARMING_DISABLED_LOAD = (1 << 7),
ARMING_DISABLED_CALIBRATING = (1 << 8),
ARMING_DISABLED_CLI = (1 << 9),
ARMING_DISABLED_CMS_MENU = (1 << 10),
ARMING_DISABLED_OSD_MENU = (1 << 11),
ARMING_DISABLED_BST = (1 << 12)
} armingDisableFlags_e;
#define NUM_ARMING_DISABLE_FLAGS 12
#define NUM_ARMING_DISABLE_FLAGS 13
#if defined(OSD) || !defined(MINIMAL_CLI)
extern const char *armingDisableFlagNames[NUM_ARMING_DISABLE_FLAGS];
#endif