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RC_Channel: move throttle-is-zero check into RC_Channels library

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it was decided that your throttle-is-zero check was really part of the gesture and thus belonged in RC_Channels, not in AP_Arming.
This commit is contained in:
Peter Barker
2025-07-08 08:28:31 +10:00
committed by Peter Barker
parent f9660c286c
commit 712bccfcbc
1 changed files with 16 additions and 4 deletions
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libraries/RC_Channel/RC_Channels.cpp
+16 -4
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@@ -361,18 +361,30 @@ void RC_Channels::rudder_arm_disarm_check()
return;
}
const auto control_in = abs(channel->get_control_in());
const auto control_in = channel->get_control_in();
const auto abs_control_in = abs(control_in);
if (control_in == 0) {
if (abs_control_in == 0) {
have_seen_neutral_rudder = true;
}
if (control_in <= 4000) {
if (abs_control_in <= 4000) {
// not trying to (or no longer trying to) arm or disarm
rudder_arm_timer = 0;
return;
}
// enforce correct stick gesture for arming (but not disarming):
if (arming_check_throttle() && control_in > 4000) {
// only permit arming if the vehicle isn't being commanded to
// move via RC input
const auto &c = rc().get_throttle_channel();
if (c.get_control_in() != 0) {
rudder_arm_timer = 0;
return;
}
}
const uint32_t now = AP_HAL::millis();
if (rudder_arm_timer == 0) {
// first time we've seen the attempt
@@ -387,7 +399,7 @@ void RC_Channels::rudder_arm_disarm_check()
// time to try to arm or disarm:
rudder_arm_timer = 0;
if (channel->get_control_in() > 4000) {
if (control_in > 4000) {
AP::arming().arm(AP_Arming::Method::RUDDER);
have_seen_neutral_rudder = false;
} else {