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Support disarming fixed wing if landed

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Lorenz Meier
2016-04-23 18:27:18 +02:00
parent 1ecfaff6ea
commit c99ff66f75
1 changed files with 2 additions and 2 deletions
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src/modules/commander/commander.cpp
+2 -2
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@@ -2307,8 +2307,8 @@ int commander_thread_main(int argc, char *argv[])
status.rc_signal_lost = false;
/* check if left stick is in lower left position and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed) -> disarm
* do it only for rotary wings */
if (status.is_rotary_wing && status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
* do it only for rotary wings in manual mode or fixed wing if landed */
if ((status.is_rotary_wing || (!status.is_rotary_wing && land_detector.landed)) && 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) &&
(internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL ||
internal_state.main_state == commander_state_s::MAIN_STATE_ACRO ||