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Code Issues Releases Activity

OP-1573 fix armhandler to not timeout-disarm when flying autonomously

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This commit is contained in:
Corvus Corax 2014-10-29 21:10:41 +01:00
parent 063db57322
commit d0417dda84
1 changed files with 9 additions and 0 deletions
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9
flight/modules/ManualControl/armhandler.c
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@ -214,6 +214,15 @@ void armHandler(bool newinit)
break; break;
case ARM_STATE_DISARMING_TIMEOUT: case ARM_STATE_DISARMING_TIMEOUT:
{
// we should never reach the disarming timeout if the pathfollower is engaged - reset timeout
FlightStatusControlChainData cc;
FlightStatusControlChainGet(&cc);
if (cc.PathFollower == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
armedDisarmStart = sysTime;
}
}
// We get here when armed while throttle low, even when the arming timeout is not enabled // We get here when armed while throttle low, even when the arming timeout is not enabled
if ((settings.ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.ArmedTimeout)) { if ((settings.ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.ArmedTimeout)) {
armState = ARM_STATE_DISARMED; armState = ARM_STATE_DISARMED;