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Fix fixed-wing auto-arming

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2019-07-09 20:57:22 +02:00
parent 6821ada395
commit 0246dd7c31
1 changed files with 32 additions and 21 deletions
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53
src/main/fc/rc_controls.c
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@ -173,37 +173,48 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
rcDelayCommand++;
}
}
} else
} else {
rcDelayCommand = 0;
}
rcSticks = stTmp;
// perform actions
bool armingSwitchIsActive = IS_RC_MODE_ACTIVE(BOXARM);
emergencyArmingUpdate(armingSwitchIsActive);
if (armingSwitchIsActive) {
rcDisarmTimeMs = currentTimeMs;
tryArm();
} else {
// Disarming via ARM BOX
// Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver
// and can't afford to risk disarming in the air
if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
if (armingConfig()->disarm_kill_switch || (throttleStatus == THROTTLE_LOW)) {
disarm(DISARM_SWITCH);
}
}
}
else {
rcDisarmTimeMs = currentTimeMs;
if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && armingConfig()->fixed_wing_auto_arm) {
// Auto arm on throttle when using fixedwing and motorstop
if (throttleStatus != THROTTLE_LOW) {
tryArm();
return;
}
}
else {
if (armingSwitchIsActive) {
rcDisarmTimeMs = currentTimeMs;
tryArm();
} else {
// Disarming via ARM BOX
// Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver
// and can't afford to risk disarming in the air
if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
if (armingConfig()->disarm_kill_switch || (throttleStatus == THROTTLE_LOW)) {
disarm(DISARM_SWITCH);
}
}
}
else {
rcDisarmTimeMs = currentTimeMs;
}
}
// KILLSWITCH disarms instantly
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
disarm(DISARM_KILLSWITCH);
// KILLSWITCH disarms instantly
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
disarm(DISARM_KILLSWITCH);
}
}
if (rcDelayCommand != 20) {