Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-24 09:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: allow disabling ESC calibration

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Parameters.cpp
View File

@ -357,7 +357,7 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @DisplayName: ESC Calibration // @DisplayName: ESC Calibration
// @Description: Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually. // @Description: Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
// @User: Advanced // @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), GSCALAR(esc_calibrate, "ESC", 0),
// @Param: TUNE // @Param: TUNE

11
ArduCopter/esc_calibration.cpp
View File

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