added kill_throttle again, is needed because the kill button in the G…

…CS is connected to the kill_throttle setting
paparazzi · Apr 6, 2012 · ffd501a · ffd501a
1 parent 8995b02
commit ffd501a
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Showing 4 changed files with 8 additions and 1 deletion.
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
@@ -5,7 +5,7 @@
 
     <dl_settings NAME="Misc">
        <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="12" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
-      <dl_setting var="autopilot_motors_on" min="0" step="1" max="1" module="autopilot" values="Kill|Resurrect" handler="KillThrottle"/>
+      <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
       <dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
         <strip_button name="POWER ON" icon="on.png" value="1"/>
         <strip_button name="POWER OFF" icon="off.png" value="0"/>

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -36,6 +36,7 @@ uint32_t autopilot_in_flight_counter;
 uint16_t autopilot_flight_time;
 
 bool_t   autopilot_motors_on;
+bool_t   kill_throttle;
 
 bool_t   autopilot_rc;
 bool_t   autopilot_power_switch;
@@ -67,6 +68,7 @@ static inline int ahrs_is_aligned(void) {
 void autopilot_init(void) {
   autopilot_mode = AP_MODE_KILL;
   autopilot_motors_on = FALSE;
+  kill_throttle = ! autopilot_motors_on;
   autopilot_in_flight = FALSE;
   autopilot_in_flight_counter = 0;
   autopilot_mode_auto2 = MODE_AUTO2;
@@ -222,6 +224,7 @@ static inline void autopilot_check_in_flight( bool_t motors_on ) {
 
 void autopilot_set_motors_on(bool_t motors_on) {
   autopilot_motors_on = motors_on;
+  kill_throttle = ! autopilot_motors_on;
   autopilot_arming_set(autopilot_motors_on);
 }
 
@@ -241,6 +244,8 @@ void autopilot_on_rc_frame(void) {
   // an arming sequence is used to start/stop motors
   autopilot_arming_check_motors_on();
 
+  kill_throttle = ! autopilot_motors_on;
+
   autopilot_check_in_flight(autopilot_motors_on);
 
   if (autopilot_mode > AP_MODE_FAILSAFE) {

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h
@@ -49,6 +49,7 @@ extern uint8_t autopilot_mode;
 extern uint8_t autopilot_mode_auto2;
 extern bool_t autopilot_motors_on;
 extern bool_t autopilot_in_flight;
+extern bool_t kill_throttle;
 extern bool_t autopilot_rc;
 
 extern bool_t autopilot_power_switch;

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h
@@ -90,6 +90,7 @@ static inline void autopilot_arming_check_motors_on( void ) {
   default:
     break;
   }
+  kill_throttle = ! autopilot_motors_on;
 }
 
 #endif /* AUTOPILOT_ARMING_SWITCH_H */