Copter/Rover: add ability to disarm rudder arming #9390
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libraries/AP_Arming/AP_Arming.cpp
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| // @Description: Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ) | ||
| // @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm | ||
| // @User: Advanced | ||
| AP_GROUPINFO_FLAGS_FRAME("RUDDER", 6, AP_Arming, _rudder_arming, ARMING_RUDDER_DEFAULT, AP_PARAM_NO_SHIFT, AP_PARAM_FRAME_PLANE | |
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I'm pretty sure AP_PARAM_NO_SHIFT here is wrong, from the comments and a vague recollection it's only used for index 0 in the table, which this is not.
ArduPlane/AP_Arming.cpp
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| @@ -4,20 +4,6 @@ | |||
| #include "AP_Arming.h" | |||
| #include "Plane.h" | |||
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| const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = { | |||
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I haven't tested, but I wouldn't be surprised if this broke all of the plane ARMING parameters that people already had, since this significantly alters the table structure. The minimum change is to retain the table and only remove the rudder sub entry (and leave a comment indicating the entry can't be used).
libraries/AP_Arming/AP_Arming.h
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| ARMING_RUDDER_ARMONLY = 1, | ||
| ARMING_RUDDER_ARMDISARM = 2 | ||
| }; | ||
| ArmingRudder rudder_arming() const { return (ArmingRudder)_rudder_arming.get(); } |
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Maybe call the function get_rudder_arming_type(void)? The function name of rudder_arming() isn't very clear from an outside caller what is necessarily happening.
rmackay9
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@WickedShell, thanks very much for the review, really great. I've made the changes you've suggested, rebased on master and forced pushed to this PR's branch. In particular you were right that the Plane's arming parameters were being corrupted. I've retested again by setting all of Plane's ARMING_xxxx parameters to unique values using master, then loaded this change and confirmed that the values have remained as they were. |
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.. added a comment that index 3 should not be used in Plane's AP_Arming var_table as discussed with @WickedShell. Also rebased on master and force-pushed. I'll merge once Travis is happy. txs! |
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@rmackay9 will this make it into Copter-3.6? |
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@bnsgeyer, I hadn't decided actually.. we have at least one more release candidate.. any new additions risk delaying the release of course. |
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@rmackay9 I pre-tested this by backporting to 3.6, and squashed all the commits into one. Built it, flew it and tested it and it works as it should - I could not get it to do anything in Copter that would be unexpected behavior. https://github.com/ChristopherOlson/ardupilot/commit/0a80ce2b16be36bc18d62fbcfca533ce64cc1a5e |
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@ChristopherOlson, great. I'll include it in Copter-3.6.0-rc10 which should go out within the next few days. |
This PR allows arming and/or disarming via the sticks to be disabled. This has been requested by both by the TradHeli maintainers (@ChristopherOlson, @bnsgeyer) and also by @IamPete1 who is working on Rover's sailboat support.
In particular this PR makes the following changes:
This PR does not affect Sub or Tracker.
This has been tested on Plane, Rover and Copter on a Pixhawk1 flight controller. For the test I set the ARMING_RUDDER parameter to 0, 1 and 2 and tested that I was able to arming from the sticks (or not) as defined by the parameter description.