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Code Issues Releases Activity

LP-428 Handle different threshold levels for sticks and switches

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This commit is contained in:
Laurent Lalanne 2016-12-21 03:16:29 +01:00
parent 33188bd78e
commit ad0d18cfef
1 changed files with 8 additions and 5 deletions
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13
flight/modules/ManualControl/armhandler.c
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@ -41,8 +41,9 @@
#endif
// Private constants
#define ARMED_THRESHOLD 0.20f
#define GROUND_LOW_THROTTLE 0.01f
#define ARMED_THRESHOLD_SWITCH 0.20f
#define ARMED_THRESHOLD_STICK 0.80f
#define GROUND_LOW_THROTTLE 0.01f
// Private types
typedef enum {
@ -116,7 +117,7 @@ void armHandler(bool newinit, FrameType_t frameType)
}
// immediate disarm on switch
if (armSwitch && acc.AccessoryVal <= -ARMED_THRESHOLD) {
if (armSwitch && acc.AccessoryVal <= -ARMED_THRESHOLD_SWITCH) {
lowThrottle = true;
}
@ -209,9 +210,11 @@ void armHandler(bool newinit, FrameType_t frameType)
previousArmingInputLevel = 0.0f;
}
if ((armingInputLevel <= -ARMED_THRESHOLD) && (previousArmingInputLevel > -ARMED_THRESHOLD)) {
float armedThreshold = armSwitch ? ARMED_THRESHOLD_SWITCH : ARMED_THRESHOLD_STICK;
if ((armingInputLevel <= -armedThreshold) && (previousArmingInputLevel > -armedThreshold)) {
manualArm = true;
} else if ((armingInputLevel >= +ARMED_THRESHOLD) && (previousArmingInputLevel < +ARMED_THRESHOLD)) {
} else if ((armingInputLevel >= +armedThreshold) && (previousArmingInputLevel < +armedThreshold)) {
manualDisarm = true;
}