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This diff has been restricted to the following files: 'stick.c'

#
# old_revision [d0420ebd87c820e33a32b29727989516e15980a8]
# new_revision [64de686d701acb9539dc52fe0bff299405612ab0]
#
# patch "stick.c"
#  from [b0c0cbffb3863a3992abc1ac1148fc90f019309b]
#    to [ad24bc7d9d8c95c497a1b5bd7a13d8e1619ca539]
#
============================================================
--- stick.c	b0c0cbffb3863a3992abc1ac1148fc90f019309b
+++ stick.c	ad24bc7d9d8c95c497a1b5bd7a13d8e1619ca539
@@ -13,6 +13,8 @@
 #include "trig.h"
 #include "motor.h"
 #include "wmp.h"
+#include "status.h"
+#include "watchdog.h"
 
 #define TWO_PI 6.28318531f
 #define PI 3.14159265f
@@ -50,8 +52,6 @@ unsigned int stick_counter;
 
 unsigned int stick_counter;
 
-bool armed = FALSE;
-
 void stick_update(float x, float y, float z)
 {
 	float tz = delta_t * z;
@@ -85,18 +85,17 @@ void stick_input(void) {
 		throttle = timer_input(2);
 		z = timer_input(3);
 
-		if (!armed) {
+		if (!status_armed()) {
 			if ((throttle < MIN_THR) &&
 			    (x > (CENTRE_X - CENTRE_ZONE)) &&
 			    (x < (CENTRE_X + CENTRE_ZONE)) &&
 			    (y > (CENTRE_Y - CENTRE_ZONE)) &&
 			    (y < (CENTRE_Y + CENTRE_ZONE)) &&
 			    (z > (CENTRE_Z - CENTRE_ZONE)) &&
-			    (z < (CENTRE_Z + CENTRE_ZONE)) &&
-			    (wmp_zero == FALSE)) {
-				putstr("ARMED!!!\r\n");
-				armed = TRUE;
-			}
+			    (z < (CENTRE_Z + CENTRE_ZONE)))
+				    status_set_ready(STATUS_MODULE_STICK, TRUE);
+			else
+				    status_set_ready(STATUS_MODULE_STICK,FALSE);
 
 		}
 
@@ -114,10 +113,13 @@ void stick_input(void) {
 		y = 0.0f;
 		z = 0.0f;
 		throttle = 0.0f;
+		status_set_ready(STATUS_MODULE_STICK,FALSE);
 	}
 
 	motor_set_throttle(throttle);
 
+	watchdog_kick(WATCHDOG_STICK);
+
 	/* So the controls are back to front. Let's fix that. */
 	x = -x;
 	y = -y;