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Plane: allow quadplanes to scale ESC CAN like normal

This commit is contained in:
Tom Pittenger 2024-03-04 14:34:29 -08:00 committed by Andrew Tridgell
parent 171da3dd08
commit 155f31a3a2
1 changed files with 3 additions and 10 deletions
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13
ArduPlane/radio.cpp
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@ -49,16 +49,9 @@ void Plane::set_control_channels(void)
quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);
#endif
bool set_throttle_esc_scaling = true;
#if HAL_QUADPLANE_ENABLED
set_throttle_esc_scaling = !quadplane.enable;
#endif
if (set_throttle_esc_scaling) {
// setup correct scaling for ESCs like the UAVCAN ESCs which
// take a proportion of speed. For quadplanes we use AP_Motors
// scaling
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
}
// setup correct scaling for ESCs like the UAVCAN ESCs which
// take a proportion of speed.
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
}
/*