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Copter: add MOT_PWM param conversion

This commit is contained in:
Iampete1 2021-09-04 18:37:59 +01:00 committed by Willian Galvani
parent 7c9eec4173
commit 1e5d500e26
1 changed files with 7 additions and 0 deletions
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7
ArduCopter/radio.cpp
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@ -51,6 +51,13 @@ void Copter::init_rc_out()
motors->set_update_rate(g.rc_speed); motors->set_update_rate(g.rc_speed);
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
if (channel_throttle->configured_in_storage()) {
// throttle inputs setup, use those to set motor PWM min and max if not already configured
motors->convert_pwm_min_max_param(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
} else {
// throttle inputs default, force set motor PWM min and max to defaults so they will not be over-written by a future change in RC min / max
motors->convert_pwm_min_max_param(1000, 2000);
}
motors->update_throttle_range(); motors->update_throttle_range();
#else #else
// setup correct scaling for ESCs like the UAVCAN ESCs which // setup correct scaling for ESCs like the UAVCAN ESCs which