From 155f31a3a2876c5b149cf4d0c58ba6b39123d903 Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Mon, 4 Mar 2024 14:34:29 -0800 Subject: [PATCH] Plane: allow quadplanes to scale ESC CAN like normal --- ArduPlane/radio.cpp | 13 +++---------- 1 file changed, 3 insertions(+), 10 deletions(-) diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp index 6f5ea8daeb..60688c0ece 100644 --- a/ArduPlane/radio.cpp +++ b/ArduPlane/radio.cpp @@ -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); } /*