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Plane: pass rc_speed to motor backend constructors

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this sets the right speed as early as possible
This commit is contained in:
Andrew Tridgell 2018-07-28 13:43:26 +10:00
parent 9c3b7e7c7d
commit 16c7ab81dc
1 changed files with 4 additions and 4 deletions
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8
ArduPlane/quadplane.cpp
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@ -526,16 +526,16 @@ bool QuadPlane::setup(void)
switch (motor_class) {
case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz());
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTri::var_info;
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz());
motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTailsitter::var_info;
rotation = ROTATION_PITCH_90;
break;
default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrix::var_info;
break;
}
@ -1170,7 +1170,7 @@ bool QuadPlane::assistance_needed(float aspeed)
return false;
}
uint32_t max_angle_cd = 100U*assist_angle;
int32_t max_angle_cd = 100U*assist_angle;
if ((labs(ahrs.roll_sensor - plane.nav_roll_cd) < max_angle_cd &&
labs(ahrs.pitch_sensor - plane.nav_pitch_cd) < max_angle_cd)) {
// not beyond angle error