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Code Issues Wiki Activity

Remove sticks arming

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-04-24 14:27:38 +02:00
parent 5754cf7d61
commit 6ea467bd4c
6 changed files with 21 additions and 85 deletions
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71
src/main/fc/rc_controls.c
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@ -177,25 +177,23 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
rcSticks = stTmp;
// perform actions
if (!isUsingSticksForArming()) {
if (IS_RC_MODE_ACTIVE(BOXARM)) {
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);
}
if (IS_RC_MODE_ACTIVE(BOXARM)) {
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;
}
}
else {
rcDisarmTimeMs = currentTimeMs;
}
}
@ -208,23 +206,6 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
return;
}
if (isUsingSticksForArming()) {
// Disarm on throttle down + yaw
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
// Dont disarm if fixedwing and motorstop
if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && armingConfig()->fixed_wing_auto_arm) {
return;
}
else if (ARMING_FLAG(ARMED)) {
disarm(DISARM_STICKS);
}
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
}
if (ARMING_FLAG(ARMED)) {
// actions during armed
return;
@ -294,40 +275,18 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
saveConfigAndNotify();
}
// Arming by sticks
if (isUsingSticksForArming()) {
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 (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
// Arm via YAW
tryArm();
return;
}
}
}
// Calibrating Acc
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
accStartCalibration();
return;
}
// Calibrating Mag
if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
ENABLE_STATE(CALIBRATE_MAG);
return;
}
// Accelerometer Trim
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
applyAndSaveBoardAlignmentDelta(0, -2);