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Code Issues Releases Activity

Flight/ManualControl: Require the roll signal to only go to 0.90 to arm and

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disarm

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2332 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-05 10:34:39 +00:00 committed by peabody124
parent 4a91f20277
commit 3e9ee37c73
1 changed files with 2 additions and 2 deletions
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4
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
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@ -298,12 +298,12 @@ static void manualControlTask(void *parameters)
/* Look for arm or disarm signal */
if ((cmd.Throttle <= 0.05) && (cmd.Roll <= -0.95)) {
if ((cmd.Throttle <= 0) && (cmd.Roll <= -0.90)) {
if (armedDisarmStart == 0) // store when started, deal with rollover
armedDisarmStart = lastSysTime;
else if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
} else if ((cmd.Throttle <= 0.05) && (cmd.Roll >= 0.95)) {
} else if ((cmd.Throttle <= 0) && (cmd.Roll >= 0.90)) {
if (armedDisarmStart == 0)
armedDisarmStart = lastSysTime;
else if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)