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Fix stick arming auto-disarm timer not being reset 

Fix code path that could prevent the auto-disarm timer from being reset leading to a possible immediate disarm if airmode was switched off while in flight.
This commit is contained in:
Bruce Luckcuck 2018-10-14 20:55:52 -04:00
parent 799704cee3
commit f0e2cf195b
1 changed files with 12 additions and 11 deletions
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23
src/main/fc/core.c
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@ -130,7 +130,7 @@ int16_t magHold;
static bool flipOverAfterCrashMode = false;
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
static timeUs_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
bool isRXDataNew;
static int lastArmingDisabledReason = 0;
@ -338,8 +338,11 @@ void tryArm(void)
if (ARMING_FLAG(ARMED)) {
return;
}
const timeUs_t currentTimeUs = micros();
#ifdef USE_DSHOT
if (micros() - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) {
if (currentTimeUs - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) {
if (tryingToArm == ARMING_DELAYED_DISARMED) {
if (isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
tryingToArm = ARMING_DELAYED_CRASHFLIP;
@ -381,7 +384,7 @@ void tryArm(void)
}
imuQuaternionHeadfreeOffsetSet();
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
disarmAt = currentTimeUs + armingConfig()->auto_disarm_delay * 1e6; // start disarm timeout, will be extended when throttle is nonzero
lastArmingDisabledReason = 0;
@ -666,6 +669,7 @@ bool processRx(timeUs_t currentTimeUs)
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6;
if (ARMING_FLAG(ARMED)
&& featureIsEnabled(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
@ -674,9 +678,7 @@ bool processRx(timeUs_t currentTimeUs)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
if ((autoDisarmDelayUs > 0) && (currentTimeUs > disarmAt)) {
// auto-disarm configured and delay is over
disarm();
armedBeeperOn = false;
@ -686,11 +688,8 @@ bool processRx(timeUs_t currentTimeUs)
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
// throttle is not low - extend disarm time
disarmAt = currentTimeUs + autoDisarmDelayUs;
if (armedBeeperOn) {
beeperSilence();
@ -707,6 +706,8 @@ bool processRx(timeUs_t currentTimeUs)
armedBeeperOn = false;
}
}
} else {
disarmAt = currentTimeUs + autoDisarmDelayUs; // extend auto-disarm timer
}
processRcStickPositions();