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Code Issues Releases Activity

made arming/disarming sequence time configurable - useful for heli pilots that like almost-instant disarm

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This commit is contained in:
Corvus Corax 2013-07-18 13:13:23 +02:00
parent 114e25ff5d
commit 50561bfb5f
2 changed files with 4 additions and 3 deletions
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5
flight/modules/ManualControl/manualcontrol.c
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@ -67,7 +67,6 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1f
#define ARMED_TIME_MS 1000
#define ARMED_THRESHOLD 0.50f
// safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 250
@ -1137,7 +1136,7 @@ static void processArm(ManualControlCommandData *cmd, ManualControlSettingsData
case ARM_STATE_ARMING_MANUAL:
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)) {
if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmingSequenceTime)) {
armState = ARM_STATE_ARMED;
} else if (!manualArm) {
armState = ARM_STATE_DISARMED;
@ -1166,7 +1165,7 @@ static void processArm(ManualControlCommandData *cmd, ManualControlSettingsData
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)) {
if (manualDisarm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->DisarmingSequenceTime)) {
armState = ARM_STATE_DISARMED;
} else if (!manualDisarm) {
armState = ARM_STATE_ARMED;

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -71,6 +71,8 @@
%0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="FailsafeBehavior" units="" type="enum" elements="1" options="None,ModePos1,ModePos2,ModePos3,ModePos4,ModePos5,ModePos6" defaultvalue="None"/>
<field name="ReturnToHomeAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
<access gcs="readwrite" flight="readwrite"/>