ArduPilot中Copter的auto_disarm_check()

1 ////运行频率10HZ,最长时间是50
2 SCHED_TASK(auto_disarm_check,     10,     50),

1 //如果在手动模式的copter在地面，油门值低于至少15s，disarm copter
2 void Copter::auto_disarm_check()
3 {
4 }

 1 void AP_Motors::armed(bool arm)
 2 {
 3     if (_flags.armed != arm) 
 4     {
 5         _flags.armed = arm;
 6         AP_Notify::flags.armed = arm;
 7         if (!arm) 
 8         {
 9             save_params_on_disarm();
10         }
11     }
12 };