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Code Issues Wiki Activity

Auto arm fixed wing aircrafts (improved)

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2016-07-23 14:37:34 +03:00
parent fc7f4d5179
commit 7c185db060
5 changed files with 28 additions and 25 deletions
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47
src/main/fc/rc_controls.c
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@ -145,7 +145,7 @@ rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
return NOT_CENTERED;
}
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm)
{
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
@ -170,7 +170,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
// perform actions
if (!isUsingSticksToArm) {
if (IS_RC_MODE_ACTIVE(BOXARM)) {
// Arming via ARM BOX
if (throttleStatus == THROTTLE_LOW) {
@ -196,19 +195,19 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
}
if (isUsingSticksToArm) {
// 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)) {
// Dont disarm if fixedwing and motorstop
if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && fixed_wing_auto_arm) {
return;
}
else {
if (ARMING_FLAG(ARMED))
// Disarm on throttle down + yaw
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
if (ARMING_FLAG(ARMED)) {
mwDisarm();
}
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
}
}
@ -239,28 +238,30 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
return;
}
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_HI) {
saveConfigAndNotify();
}
if (isUsingSticksToArm) {
if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
// Arm via YAW
mwArm();
return;
if (isUsingSticksToArm) {
if (STATE(FIXED_WING) && feature(FEATURE_MOTOR_STOP) && fixed_wing_auto_arm) {
// Auto arm on throttle when using fixedwing and motorstop
if (throttleStatus != THROTTLE_LOW) {
// Arm via YAW
mwArm();
return;
}
}
else {
if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
// Arm via YAW
mwArm();
return;
}
}
}
// Auto arm on throttle when using fixedwing and motorstop
if (isUsingSticksToArm) {
if ((!throttleStatus == THROTTLE_LOW) && (STATE(FIXED_WING)) && (feature(FEATURE_MOTOR_STOP))) {
// Arm via YAW
mwArm();
return;
}
}
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
// Calibrating Acc