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[rotorcraft] allow to turn off motors in failsafe mode

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Allow arming/disarming motor as long as not in KILL mode and ahrs is aligned.
This commit is contained in:
Felix Ruess
2014-11-26 18:35:21 +01:00
parent 6d7094711b
commit a3e3eb8d1c
1 changed files with 9 additions and 10 deletions
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sw/airborne/firmwares/rotorcraft/autopilot.c
+9 -10
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@@ -512,7 +512,15 @@ void autopilot_on_rc_frame(void) {
autopilot_set_mode(new_autopilot_mode); autopilot_set_mode(new_autopilot_mode);
} }
/* if not in FAILSAFE or HOME mode check motor and in_flight status, read RC */ /* an arming sequence is used to start/stop motors.
* only allow switching motor if not in KILL mode and ahrs is aligned
*/
if (autopilot_mode != AP_MODE_KILL && ahrs_is_aligned()) {
autopilot_arming_check_motors_on();
kill_throttle = ! autopilot_motors_on;
}
/* if not in FAILSAFE or HOME mode, read RC and set commands accordingly */
if (autopilot_mode != AP_MODE_FAILSAFE && autopilot_mode != AP_MODE_HOME) { if (autopilot_mode != AP_MODE_FAILSAFE && autopilot_mode != AP_MODE_HOME) {
/* if there are some commands that should always be set from RC, do it */ /* if there are some commands that should always be set from RC, do it */
@@ -527,15 +535,6 @@ void autopilot_on_rc_frame(void) {
} }
#endif #endif
/* an arming sequence is used to start/stop motors.
* only allow switching motor if not in FAILSAFE or KILL mode and ahrs is aligned
*/
if (autopilot_mode != AP_MODE_KILL && autopilot_mode != AP_MODE_FAILSAFE &&
ahrs_is_aligned()) {
autopilot_arming_check_motors_on();
kill_throttle = ! autopilot_motors_on;
}
guidance_v_read_rc(); guidance_v_read_rc();
guidance_h_read_rc(autopilot_in_flight); guidance_h_read_rc(autopilot_in_flight);
} }