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AP_Motors: allow control surfaces to move disarmed

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allow tailsitter control surfaces to move in Q modes when shutdown
This commit is contained in:
Andrew Tridgell 2017-04-10 12:50:45 +10:00
parent 642a6acfcb
commit 328541769d
1 changed files with 0 additions and 6 deletions
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6
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -42,16 +42,10 @@ void AP_MotorsTailsitter::output_to_motors()
} }
switch (_spool_mode) { switch (_spool_mode) {
case SHUT_DOWN: case SHUT_DOWN:
_aileron = 0;
_elevator = 0;
_rudder = 0;
_throttle = 0; _throttle = 0;
break; break;
case SPIN_WHEN_ARMED: case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying // sends output to motors when armed but not flying
_aileron = 0;
_elevator = 0;
_rudder = 0;
_throttle = constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min; _throttle = constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min;
break; break;
case SPOOL_UP: case SPOOL_UP: