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Copter: use zero_throttle_and_relax_ac in stab, guided, acro and auto

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This commit is contained in:
Peter Barker 2017-12-29 13:36:18 +11:00 committed by Francisco Ferreira
parent 8d658e1dbc
commit 114628afe4
4 changed files with 4 additions and 22 deletions
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3
ArduCopter/mode_acro.cpp
View File

@ -26,8 +26,7 @@ void Copter::ModeAcro::run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || ap.throttle_zero || !motors->get_interlock()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
zero_throttle_and_relax_ac();
return;
}

10
ArduCopter/mode_auto.cpp
View File

@ -803,15 +803,7 @@ bool Copter::ModeAuto::payload_place_run_should_run()
void Copter::ModeAuto::payload_place_run()
{
if (!payload_place_run_should_run()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
attitude_control->set_throttle_out(0,false,g.throttle_filt);
#else
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
zero_throttle_and_relax_ac();
// set target to current position
wp_nav->init_loiter_target();
return;

10
ArduCopter/mode_guided.cpp
View File

@ -363,15 +363,7 @@ void Copter::ModeGuided::takeoff_run()
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
// initialise wpnav targets
wp_nav->shift_wp_origin_to_current_pos();
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
attitude_control->set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// reset attitude control targets
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
zero_throttle_and_relax_ac();
// clear i term when we're taking off
set_throttle_takeoff();
return;

3
ArduCopter/mode_stabilize.cpp
View File

@ -28,8 +28,7 @@ void Copter::ModeStabilize::run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || ap.throttle_zero || !motors->get_interlock()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
zero_throttle_and_relax_ac();
return;
}