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Check if AUTOTRIM is enabled before arming and avoid arming. #2756

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Merged
fiam merged 1 commit into from
Feb 14, 2018
Merged

Check if AUTOTRIM is enabled before arming and avoid arming. #2756

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7 changes: 7 additions & 0 deletions src/main/fc/fc_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -273,6 +273,13 @@ static void updateArmingStatus(void)
else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
}
/* CHECK: Do not allow arming if Servo AutoTrim is enabled */
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
}
else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
}

if (isArmingDisabled()) {
warningLedFlash();
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5 changes: 3 additions & 2 deletions src/main/fc/runtime_config.h
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Expand Up @@ -39,13 +39,14 @@ typedef enum {
ARMING_DISABLED_CLI = (1 << 20),
ARMING_DISABLED_CMS_MENU = (1 << 21),
ARMING_DISABLED_OSD_MENU = (1 << 22),
ARMING_DISABLED_ROLLPITCH_NOT_CENTERED = (1 << 23),
ARMING_DISABLED_ROLLPITCH_NOT_CENTERED = (1 << 23),
ARMING_DISABLED_SERVO_AUTOTRIM = (1 << 24),

ARMING_DISABLED_ALL_FLAGS = (ARMING_DISABLED_FAILSAFE_SYSTEM | ARMING_DISABLED_NOT_LEVEL | ARMING_DISABLED_SENSORS_CALIBRATING | ARMING_DISABLED_SYSTEM_OVERLOADED |
ARMING_DISABLED_NAVIGATION_UNSAFE | ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED |
ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE | ARMING_DISABLED_BOXKILLSWITCH |
ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI | ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU |
ARMING_DISABLED_ROLLPITCH_NOT_CENTERED)
ARMING_DISABLED_ROLLPITCH_NOT_CENTERED | ARMING_DISABLED_SERVO_AUTOTRIM)
} armingFlag_e;

extern uint32_t armingFlags;
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2 changes: 2 additions & 0 deletions src/main/io/osd.c
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Expand Up @@ -541,6 +541,8 @@ static const char * osdArmingDisabledReasonMessage(void)
return OSD_MESSAGE_STR("THROTTLE IS NOT LOW");
case ARMING_DISABLED_ROLLPITCH_NOT_CENTERED:
return OSD_MESSAGE_STR("ROLLPITCH NOT CENTERED");
case ARMING_DISABLED_SERVO_AUTOTRIM:
return OSD_MESSAGE_STR("AUTOTRIM IS ACTIVE");
case ARMING_DISABLED_CLI:
return OSD_MESSAGE_STR("CLI IS ACTIVE");
// Cases without message
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