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Copter: allow disabling ESC calibration

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This commit is contained in:
Randy Mackay 2015-07-13 09:21:32 +09:00
parent 764fa36716
commit 1a911553eb
2 changed files with 9 additions and 4 deletions
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2
ArduCopter/Parameters.cpp
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@ -357,7 +357,7 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @DisplayName: ESC Calibration
// @Description: Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
// @User: Advanced
// @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle
// @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
GSCALAR(esc_calibrate, "ESC", 0),
// @Param: TUNE

11
ArduCopter/esc_calibration.cpp
View File

@ -13,7 +13,8 @@ enum ESCCalibrationModes {
ESCCAL_NONE = 0,
ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
ESCCAL_PASSTHROUGH_ALWAYS = 2,
ESCCAL_AUTO = 3
ESCCAL_AUTO = 3,
ESCCAL_DISABLED = 9,
};
// check if we should enter esc calibration mode
@ -23,7 +24,7 @@ void Copter::esc_calibration_startup_check()
pre_arm_rc_checks();
if (!ap.pre_arm_rc_check) {
// clear esc flag for next time
if (g.esc_calibrate != ESCCAL_NONE) {
if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
return;
@ -59,12 +60,16 @@ void Copter::esc_calibration_startup_check()
// perform automatic ESC calibration
esc_calibration_auto();
break;
case ESCCAL_DISABLED:
default:
// do nothing
break;
}
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
if (g.esc_calibrate != ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
}
// esc_calibration_passthrough - pass through pilot throttle to escs