paparazzi/paparazzi — pull request #174 by flixr (2012-04-05 20:09:49+00:00)
Title: Rotorcraft arming

* moved arming sequences to separate files
* removed kill_throttle variable, use provided functions to turn motors on/off, was only used in settings anyway...
* if AUTOPILOT_KILL_WITHOUT_AHRS is defined, never start the motors if AHRS is not aligned
* if AUTOPILOT_ARMING_KILL_SWITCH is defined:
* 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 AUTOPILOT_ARMING_THROTTLE is defined:
* automatically unkill 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