Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: replace slow_start() with full set_throttle_takeoff() function.

Browse Source
This commit is contained in:
Robert Lefebvre 2015-07-01 21:37:12 -04:00 committed by Randy Mackay
parent 0a69c13b1d
commit 24d0031389
2 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
ArduCopter/control_auto.cpp
View File

@ -103,8 +103,8 @@ void Copter::auto_takeoff_start(float final_alt_above_home)
// initialise yaw
set_auto_yaw_mode(AUTO_YAW_HOLD);
// tell motors to do a slow start
motors.slow_start(true);
// clear i term when we're taking off
set_throttle_takeoff();
}
// auto_takeoff_run - takeoff in auto mode
@ -123,8 +123,8 @@ void Copter::auto_takeoff_run()
// reset attitude control targets
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// tell motors to do a slow start
motors.slow_start(true);
// clear i term when we're taking off
set_throttle_takeoff();
return;
}
@ -175,8 +175,8 @@ void Copter::auto_wp_run()
#else // Multirotors do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// tell motors to do a slow start
motors.slow_start(true);
// clear i term when we're taking off
set_throttle_takeoff();
return;
}
@ -239,8 +239,8 @@ void Copter::auto_spline_run()
#else // Multirotors do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// tell motors to do a slow start
motors.slow_start(true);
// clear i term when we're taking off
set_throttle_takeoff();
return;
}

8
ArduCopter/control_guided.cpp
View File

@ -53,8 +53,8 @@ void Copter::guided_takeoff_start(float final_alt_above_home)
// initialise yaw
set_auto_yaw_mode(AUTO_YAW_HOLD);
// tell motors to do a slow start
motors.slow_start(true);
// clear i term when we're taking off
set_throttle_takeoff();
}
// initialise guided mode's position controller
@ -215,8 +215,8 @@ void Copter::guided_takeoff_run()
// reset attitude control targets
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// tell motors to do a slow start
motors.slow_start(true);
// clear i term when we're taking off
set_throttle_takeoff();
return;
}