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Code Issues Releases Activity

LP-339 Only allow switching to AutoTakeOff if disarmed state

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This commit is contained in:
Laurent Lalanne 2016-06-18 19:10:41 +02:00
parent 298fc947b4
commit fee9f7e071
1 changed files with 10 additions and 1 deletions
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11
flight/modules/ManualControl/manualcontrol.c
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@ -230,8 +230,9 @@ static void manualControlTask(void)
FlightModeSettingsData modeSettings; FlightModeSettingsData modeSettings;
FlightModeSettingsGet(&modeSettings); FlightModeSettingsGet(&modeSettings);
static uint8_t lastPosition = 0;
uint8_t position = cmd.FlightModeSwitchPosition; uint8_t position = cmd.FlightModeSwitchPosition;
uint8_t newMode = flightStatus.FlightMode; uint8_t newMode = flightStatus.FlightMode;
uint8_t newAlwaysStabilized = flightStatus.AlwaysStabilizeWhenArmed; uint8_t newAlwaysStabilized = flightStatus.AlwaysStabilizeWhenArmed;
uint8_t newFlightModeAssist = flightStatus.FlightModeAssist; uint8_t newFlightModeAssist = flightStatus.FlightModeAssist;
uint8_t newAssistedControlState = flightStatus.AssistedControlState; uint8_t newAssistedControlState = flightStatus.AssistedControlState;
@ -240,6 +241,13 @@ static void manualControlTask(void)
newMode = modeSettings.FlightModePosition[position]; newMode = modeSettings.FlightModePosition[position];
} }
// Ignore change to AutoTakeOff and keep last flight mode position
// if vehicle is already armed and maybe in air...
if ((newMode == FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF) && flightStatus.Armed) {
newMode = flightStatus.FlightMode;
position = lastPosition;
}
// if a mode change occurs we default the assist mode and states here // if a mode change occurs we default the assist mode and states here
// to avoid having to add it to all of the below modes that are // to avoid having to add it to all of the below modes that are
// otherwise unrelated // otherwise unrelated
@ -507,6 +515,7 @@ static void manualControlTask(void)
flightStatus.AssistedThrottleState = newAssistedThrottleState; flightStatus.AssistedThrottleState = newAssistedThrottleState;
FlightStatusSet(&flightStatus); FlightStatusSet(&flightStatus);
newinit = true; newinit = true;
lastPosition = position;
} }
if (handler->handler) { if (handler->handler) {
handler->handler(newinit); handler->handler(newinit);