From 6327f4adf187b89d8fd2324e5fe15b8302261249 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 11 Oct 2014 16:05:32 +0900
Subject: [PATCH] Copter: allow arming in GUIDED only from GCS
Also changed mode_allows_arming function to accept arming_from_gcs param
Also remove AUTOTUNE from arming list
---
ArduCopter/flight_mode.pde | 6 ++++--
ArduCopter/motors.pde | 4 ++--
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde
index e12b4c9f0..a87d1b714 100644
--- a/ArduCopter/flight_mode.pde
+++ b/ArduCopter/flight_mode.pde
@@ -267,8 +267,10 @@ static bool manual_flight_mode(uint8_t mode) {
return false;
}
-static bool mode_allows_arming(uint8_t mode) {
- if (manual_flight_mode(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == AUTOTUNE || mode == GUIDED) {
+// mode_allows_arming - returns true if vehicle can be armed in the specified mode
+// arming_from_gcs should be set to true if the arming request comes from the ground station
+static bool mode_allows_arming(uint8_t mode, bool arming_from_gcs) {
+ if (manual_flight_mode(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
return true;
}
return false;
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index c1f893a9f..227158972 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -528,10 +528,10 @@ static bool pre_arm_gps_checks(bool display_failure)
// arm_checks - perform final checks before arming
// always called just before arming. Return true if ok to arm
-static bool arm_checks(bool display_failure, bool request_from_gcs)
+static bool arm_checks(bool display_failure, bool arming_from_gcs)
{
// always check if the current mode allows arming
- if (!mode_allows_arming(control_mode) || (!request_from_gcs && control_mode == GUIDED)) {
+ if (!mode_allows_arming(control_mode, arming_from_gcs)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Mode not armable"));
}
--
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