Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: allow for throttle control in MANUAL when disarmed

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/servos.cpp
View File

@ -886,6 +886,8 @@ void Plane::set_servos(void)
// slew rate limit 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()) {
//Some ESCs get noisy (beep error msgs) if PWM == 0.
//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);
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
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct);
#if HAL_QUADPLANE_ENABLED