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Code Issues Releases Activity

OP-1391 - Fix to prevent arming if unsafe due to current Thrust Mode (Altitude Hold/Vario)

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This commit is contained in:
rodneygrainger 2014-07-07 20:47:23 +12:00
parent 01b01052a8
commit 3aaf1a3367
1 changed files with 11 additions and 2 deletions
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13
flight/modules/ManualControl/armhandler.c
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@ -35,6 +35,7 @@
#include <accessorydesired.h>
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <stabilizationdesired.h>
// Private constants
#define ARMED_THRESHOLD 0.50f
@ -267,6 +268,8 @@ static bool okToArm(void)
}
}
StabilizationDesiredStabilizationModeData stabDesired;
uint8_t flightMode;
FlightStatusFlightModeGet(&flightMode);
switch (flightMode) {
@ -277,8 +280,14 @@ static bool okToArm(void)
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
return true;
// Prevent arming if unsafe due to the current Thrust Mode
StabilizationDesiredStabilizationModeGet(&stabDesired);
if (stabDesired.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD ||
stabDesired.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) {
return false;
} else {
return true;
}
break;
default: