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Arm button fix: toggle arming state only once per arm button press

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This commit is contained in:
Matthias Grob
2016-12-01 17:59:00 +01:00
committed by Lorenz Meier
parent 8a75827d6a
commit 94c8371ffe
1 changed files with 6 additions and 13 deletions
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src/modules/commander/commander.cpp
+6 -13
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@@ -2571,7 +2571,7 @@ int commander_thread_main(int argc, char *argv[])
land_detector.landed) && land_detector.landed) &&
((sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) { ((sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) {
if (stick_off_counter > rc_arm_hyst) { if (stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY : arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
vehicle_status_s::ARMING_STATE_STANDBY_ERROR); vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
@@ -2590,14 +2590,10 @@ int commander_thread_main(int argc, char *argv[])
if (arming_ret == TRANSITION_CHANGED) { if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true; arming_state_changed = true;
} }
stick_off_counter = 0;
} else {
stick_off_counter++;
} }
stick_off_counter++;
} else { } else if (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
stick_off_counter = 0; stick_off_counter = 0;
} }
@@ -2605,7 +2601,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF && if (status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
(status.arming_state != vehicle_status_s::ARMING_STATE_ARMED && status.arming_state != vehicle_status_s::ARMING_STATE_ARMED_ERROR) && (status.arming_state != vehicle_status_s::ARMING_STATE_ARMED && status.arming_state != vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
((sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) { ((sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) {
if (stick_on_counter > rc_arm_hyst) { if (stick_on_counter == rc_arm_hyst && stick_off_counter < rc_arm_hyst) {
/* we check outside of the transition function here because the requirement /* we check outside of the transition function here because the requirement
* for being in manual mode only applies to manual arming actions. * for being in manual mode only applies to manual arming actions.
@@ -2645,13 +2641,10 @@ int commander_thread_main(int argc, char *argv[])
print_reject_arm("NOT ARMING: Preflight checks failed"); print_reject_arm("NOT ARMING: Preflight checks failed");
} }
} }
stick_on_counter = 0;
} else {
stick_on_counter++;
} }
stick_on_counter++;
} else { } else if (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
stick_on_counter = 0; stick_on_counter = 0;
} }