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Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto. #18413

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Aug 24, 2021
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Plane: Quadplane: add Q_OPTION to only allow arming in Qmodes and auto. #18413

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6 changes: 6 additions & 0 deletions ArduPlane/AP_Arming.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,12 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
ret = false;
}

if (plane.quadplane.enabled() && ((plane.quadplane.options & QuadPlane::OPTION_ONLY_ARM_IN_QMODE_OR_AUTO) != 0) &&
!plane.control_mode->is_vtol_mode() && (plane.control_mode != &plane.mode_auto)) {
check_failed(display_failure,"not in Q mode");
Comment on lines +119 to +121
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Really starting to look like we need a pre_arm_check on mode. Copter has gotten away without that so far, but....

ret = false;
}

return ret;
}

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2 changes: 1 addition & 1 deletion ArduPlane/quadplane.cpp
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Expand Up @@ -306,7 +306,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: OPTIONS
// @DisplayName: quadplane options
// @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResponsition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning.
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandResponsition
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandResponsition,18:Only allow arming in Qmodes or auto
AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),

AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),
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1 change: 1 addition & 0 deletions ArduPlane/quadplane.h
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Expand Up @@ -543,6 +543,7 @@ class QuadPlane
OPTION_THR_LANDING_CONTROL=(1<<15),
OPTION_DISABLE_APPROACH=(1<<16),
OPTION_REPOSITION_LANDING=(1<<17),
OPTION_ONLY_ARM_IN_QMODE_OR_AUTO=(1<<18),
};

AP_Float takeoff_failure_scalar;
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