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Code Issues Releases Activity

OP-629 Block arming on all navigation based modes

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Conflicts:
	flight/modules/ManualControl/manualcontrol.c
This commit is contained in:
Alessio Morale 2013-05-03 01:44:41 +02:00
parent 976999eba0
commit 1c3fb70ab1
1 changed files with 12 additions and 1 deletions
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13
flight/modules/ManualControl/manualcontrol.c
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@ -916,7 +916,18 @@ static bool okToArm(void)
} }
} }
return true; uint8_t flightMode;
FlightStatusFlightModeGet(&flightMode);
switch(flightMode) {
case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
return true;
default:
return false;
}
} }
/** /**
* @brief Determine if the aircraft is forced to disarm by an explicit alarm * @brief Determine if the aircraft is forced to disarm by an explicit alarm