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Prevent re-arming when gyro calibration on arm enabled (only for switch armers due to safety reasons)

This commit is contained in:
borisbstyle 2016-04-05 00:36:28 +02:00
parent 5290e4be56
commit 81b94e5cb8
1 changed files with 8 additions and 4 deletions
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12
src/main/mw.c
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@ -117,6 +117,7 @@ extern bool antiWindupProtection;
uint16_t filteredCycleTime; uint16_t filteredCycleTime;
static bool isRXDataNew; static bool isRXDataNew;
static bool armingCalibrationWasInitialised;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
@ -312,7 +313,7 @@ void annexCode(void)
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {
LED0_ON; LED0_ON;
} else { } else {
if (IS_RC_MODE_ACTIVE(BOXARM) == 0) { if (IS_RC_MODE_ACTIVE(BOXARM) == 0 || armingCalibrationWasInitialised) {
ENABLE_ARMING_FLAG(OK_TO_ARM); ENABLE_ARMING_FLAG(OK_TO_ARM);
} }
@ -341,6 +342,8 @@ void annexCode(void)
void mwDisarm(void) void mwDisarm(void)
{ {
armingCalibrationWasInitialised = false;
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {
DISABLE_ARMING_FLAG(ARMED); DISABLE_ARMING_FLAG(ARMED);
@ -366,11 +369,12 @@ void releaseSharedTelemetryPorts(void) {
void mwArm(void) void mwArm(void)
{ {
static bool armingCalibrationWasInitialisedOnce; static bool firstArmingCalibrationWasCompleted;
if (masterConfig.gyro_cal_on_first_arm && !armingCalibrationWasInitialisedOnce) { if (masterConfig.gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) {
gyroSetCalibrationCycles(calculateCalibratingCycles()); gyroSetCalibrationCycles(calculateCalibratingCycles());
armingCalibrationWasInitialisedOnce = true; armingCalibrationWasInitialised = true;
firstArmingCalibrationWasCompleted = true;
} }
if (!isGyroCalibrationComplete()) return; // prevent arming before gyro is calibrated if (!isGyroCalibrationComplete()) return; // prevent arming before gyro is calibrated