From 10f8e36f9b1994ce7279bf4f39cff0c8b684a757 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 2 Feb 2016 21:18:01 +0900 Subject: [PATCH] Copter: brake uses AP_Motors set_desired_spool_state --- ArduCopter/control_brake.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/control_brake.cpp b/ArduCopter/control_brake.cpp index d60600574e..39b3b3ce08 100644 --- a/ArduCopter/control_brake.cpp +++ b/ArduCopter/control_brake.cpp @@ -43,7 +43,7 @@ void Copter::brake_run() attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else - motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED); + motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); #endif @@ -62,7 +62,7 @@ void Copter::brake_run() } // set motors to full range - motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); + motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // run brake controller wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);