[paparazzi-commits] [paparazzi/paparazzi] 056774: Merge pull request #174 from flixr/rotorcraft_armi...

[GitHub]

  Branch: refs/heads/dev
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 056774c06f632324f4e1fcd9662ba543d67d333d
      
https://github.com/paparazzi/paparazzi/commit/056774c06f632324f4e1fcd9662ba543d67d333d
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-10 (Tue, 10 Apr 2012)

  Changed paths:
    M conf/airframes/fraser_lisa_m_rotorcraft.xml
  M sw/airborne/firmwares/rotorcraft/autopilot.c
  M sw/airborne/firmwares/rotorcraft/autopilot.h
  A sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h
  A sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
  A sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
  A sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h

  Log Message:
  -----------
  Merge pull request #174 from flixr/rotorcraft_arming

* never start the motors if AHRS is not aligned (disable it with 
AUTOPILOT_DISABLE_AHRS_KILL)
* if USE_KILL_SWITCH_FOR_MOTOR_ARMING is defined (to 1):
  * switch kill switch off to arm the motors
  * if kill switch is off during startup, you need to kill again first, then 
unkill to start
  * throttle needs to be down, other sticks centered to start motors
  * need to be in manual mode to start the motors
* if USE_THROTTLE_FOR_MOTOR_ARMING is defined (to 1):
  * automatically start motors when applying throttle
  * if throttle was not down at startup, you need to put throttle down again 
first
  * other sticks need to be centered to start motors
  * need to be in manual mode to start the motors
* else the "default" arming sequence with the yaw-stick-to-the-corner is used
* if you have a RADIO_KILL_SWITCH defined, it it will be used to go into kill 
mode, regardless of what motor arming option is used