void supervisorArm(void) {
if (motorsArm()) {
supervisorData.state = STATE_ARMED | (supervisorData.state & (STATE_LOW_BATTERY1 | STATE_LOW_BATTERY2));
AQ_NOTICE("Armed\n");
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_ARMING);
#endif
}
else {
motorsDisarm();
AQ_NOTICE("Arm motors failed - disarmed\n");
}
}
void supervisorArm(void) {
uint8_t rcStat = rcCheckValidController();
if (rcStat) {
AQ_NOTICE("Error: Can't arm due to RC error(s):\n");
rcReportAllErrors(rcStat);
}
else if (rcIsSwitchActive(NAV_CTRL_AH) || rcIsSwitchActive(NAV_CTRL_PH) || rcIsSwitchActive(NAV_CTRL_MISN))
AQ_NOTICE("Error: Can't arm, not in manual flight mode.\n");
else if (rcIsSwitchActive(NAV_CTRL_HOM_SET) || rcIsSwitchActive(NAV_CTRL_HOM_GO))
AQ_NOTICE("Error: Can't arm, home command active.\n");
else if (rcIsSwitchActive(NAV_CTRL_HF_SET) || rcIsSwitchActive(NAV_CTRL_HF_LOCK))
AQ_NOTICE("Error: Can't arm, heading-free mode active.\n");
else if (motorsArm()) {
supervisorData.state = STATE_ARMED | (supervisorData.state & (STATE_LOW_BATTERY1 | STATE_LOW_BATTERY2));
AQ_NOTICE("Armed\n");
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_ARMING);
#endif
}
else {
motorsDisarm();
AQ_NOTICE("Error: Arm motors failed - disarmed.\n");
}
}
