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

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