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Plane: allow for throttle control in MANUAL when disarmed

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pass base throttle down to ICE subsystem to allow for throttle when
disarmed in MANUAL
This commit is contained in:
Andrew Tridgell 2022-06-24 13:53:50 +10:00
parent 798ab5d859
commit 28d2967883
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/servos.cpp
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@ -886,6 +886,8 @@ void Plane::set_servos(void)
// slew rate limit throttle // slew rate limit throttle
throttle_slew_limit(SRV_Channel::k_throttle); throttle_slew_limit(SRV_Channel::k_throttle);
const float base_throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
if (!arming.is_armed()) { if (!arming.is_armed()) {
//Some ESCs get noisy (beep error msgs) if PWM == 0. //Some ESCs get noisy (beep error msgs) if PWM == 0.
//This little segment aims to avoid this. //This little segment aims to avoid this.
@ -912,7 +914,7 @@ void Plane::set_servos(void)
} }
float override_pct = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle); float override_pct = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
if (g2.ice_control.throttle_override(override_pct)) { if (g2.ice_control.throttle_override(override_pct, base_throttle)) {
// the ICE controller wants to override the throttle for starting, idle, or redline // the ICE controller wants to override the throttle for starting, idle, or redline
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct);
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED