/*
arm motors
*/
bool Rover::arm_motors(AP_Arming::ArmingMethod method)
{
if (!arming.arm(method)) {
return false;
}
change_arm_state();
return true;
}
/*
arm motors
*/
bool Plane::arm_motors(AP_Arming::ArmingMethod method)
{
if (!arming.arm(method)) {
return false;
}
// only log if arming was successful
channel_throttle->enable_out();
change_arm_state();
return true;
}
/*
disarm motors
*/
bool Rover::disarm_motors(void)
{
if (!arming.disarm()) {
return false;
}
if (control_mode != AUTO) {
// reset the mission on disarm if we are not in auto
mission.reset();
}
// only log if disarming was successful
change_arm_state();
return true;
}
/*
disarm motors
*/
bool Rover::disarm_motors(void)
{
if (!arming.disarm()) {
return false;
}
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
channel_throttle->disable_out();
}
if (control_mode != AUTO) {
// reset the mission on disarm if we are not in auto
mission.reset();
}
//only log if disarming was successful
change_arm_state();
return true;
}
/*
disarm motors
*/
bool Plane::disarm_motors(void)
{
if (!arming.disarm()) {
return false;
}
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
channel_throttle->disable_out();
}
if (control_mode != AUTO) {
// reset the mission on disarm if we are not in auto
mission.reset();
}
// suppress the throttle in auto-throttle modes
throttle_suppressed = auto_throttle_mode;
//only log if disarming was successful
change_arm_state();
// reload target airspeed which could have been modified by a mission
plane.g.airspeed_cruise_cm.load();
return true;
}
