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Code Issues Wiki Activity

Fix a non-disarming bug; More safety for disarming procedure

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-11-11 23:27:11 +10:00
parent 6b4b181822
commit 24593c74f4
1 changed files with 13 additions and 5 deletions
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18
src/main/fc/rc_controls.c
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@ -144,6 +144,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
static uint8_t rcDisarmTicks; // this is an extra guard for disarming through switch to prevent that one frame can disarm it
uint8_t stTmp = 0;
int i;
@ -166,6 +167,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
// perform actions
if (!isUsingSticksToArm) {
if (IS_RC_MODE_ACTIVE(BOXARM)) {
rcDisarmTicks = 0;
// Arming via ARM BOX
if (throttleStatus == THROTTLE_LOW) {
if (ARMING_FLAG(OK_TO_ARM)) {
@ -176,13 +178,19 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
// 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) && rxIsReceivingSignal() && !failsafeIsActive() && !failsafeIsReceivingRxData()) {
if (disarm_kill_switch) {
mwDisarm();
} else if (throttleStatus == THROTTLE_LOW) {
mwDisarm();
if (ARMING_FLAG(ARMED) && !(IS_RC_MODE_ACTIVE(BOXFAILSAFE) && feature(FEATURE_FAILSAFE)) && rxIsReceivingSignal() && !failsafeIsActive()) {
rcDisarmTicks++;
if (rcDisarmTicks > 3) { // Wait for at least 3 RX ticks (60ms @ 50Hz RX)
if (disarm_kill_switch) {
mwDisarm();
} else if (throttleStatus == THROTTLE_LOW) {
mwDisarm();
}
}
}
else {
rcDisarmTicks = 0;
}
}
}