Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: flip uses 0 to 1 throttle and sets motor spool state

Browse Source
This commit is contained in:
Leonard Hall 2016-01-18 14:36:56 +09:00 committed by Randy Mackay
parent 8a49745e96
commit 068fc7feac
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduCopter/control_flip.cpp
View File

@ -96,7 +96,7 @@ bool Copter::flip_init(bool ignore_checks)
// should be called at 100hz or more
void Copter::flip_run()
{
int16_t throttle_out;
float throttle_out;
float recovery_angle;
// if pilot inputs roll > 40deg or timeout occurs abandon flip
@ -219,8 +219,11 @@ void Copter::flip_run()
break;
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// output pilot's throttle without angle boost
if (throttle_out == 0) {
if (is_zero(throttle_out)) {
attitude_control.set_throttle_out_unstabilized(0,false,g.throttle_filt);
} else {
attitude_control.set_throttle_out(throttle_out, false, g.throttle_filt);