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

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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
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16
ArduCopter/control_auto.cpp
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@ -103,8 +103,8 @@ void Copter::auto_takeoff_start(float final_alt_above_home)
// initialise yaw // initialise yaw
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
// tell motors to do a slow start // clear i term when we're taking off
motors.slow_start(true); set_throttle_takeoff();
} }
// auto_takeoff_run - takeoff in auto mode // auto_takeoff_run - takeoff in auto mode
@ -123,8 +123,8 @@ void Copter::auto_takeoff_run()
// reset attitude control targets // reset attitude control targets
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif #endif
// tell motors to do a slow start // clear i term when we're taking off
motors.slow_start(true); set_throttle_takeoff();
return; return;
} }
@ -175,8 +175,8 @@ void Copter::auto_wp_run()
#else // Multirotors do not stabilize roll/pitch/yaw when disarmed #else // Multirotors do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif #endif
// tell motors to do a slow start // clear i term when we're taking off
motors.slow_start(true); set_throttle_takeoff();
return; return;
} }
@ -239,8 +239,8 @@ void Copter::auto_spline_run()
#else // Multirotors do not stabilize roll/pitch/yaw when disarmed #else // Multirotors do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif #endif
// tell motors to do a slow start // clear i term when we're taking off
motors.slow_start(true); set_throttle_takeoff();
return; return;
} }

8
ArduCopter/control_guided.cpp
View File

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