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AP_Motors: setup limits flags for tailsitters

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This commit is contained in:
Andrew Tridgell 2017-05-05 07:33:30 +10:00
parent 3018728f50
commit 1f847132d7
1 changed files with 15 additions and 0 deletions
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15
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -55,16 +55,31 @@ void AP_MotorsTailsitter::output_to_motors()
switch (_spool_mode) {
case SHUT_DOWN:
_throttle = 0;
// set limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = true;
limit.throttle_upper = true;
break;
case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying
_throttle = constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min;
// set limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = true;
limit.throttle_upper = true;
break;
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_DOWN:
throttle_left = constrain_float(_throttle + _rudder*0.5, 0, 1);
throttle_right = constrain_float(_throttle - _rudder*0.5, 0, 1);
// initialize limits flags
limit.roll_pitch = false;
limit.yaw = false;
limit.throttle_lower = false;
limit.throttle_upper = false;
break;
}
// outputs are setup here, and written to the HAL by the plane servos loop