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Plane: quadplane sets motors desired spool state

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This commit is contained in:
Randy Mackay 2016-02-04 13:03:39 +09:00
parent 0abea7af68
commit 39f795d9fd
1 changed files with 14 additions and 4 deletions
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18
ArduPlane/quadplane.cpp
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@ -495,8 +495,10 @@ void QuadPlane::hold_stabilize(float throttle_in)
smoothing_gain);
if (throttle_in <= 0) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0);
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
attitude_control->set_throttle_out(throttle_in, true, 0);
}
}
@ -528,6 +530,9 @@ void QuadPlane::init_hover(void)
*/
void QuadPlane::hold_hover(float target_climb_rate)
{
// motors use full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initialize vertical speeds and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z);
@ -550,6 +555,7 @@ void QuadPlane::hold_hover(float target_climb_rate)
void QuadPlane::control_hover(void)
{
if (throttle_wait) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0);
pos_control->relax_alt_hold_controllers(0);
} else {
@ -616,6 +622,7 @@ bool QuadPlane::should_relax(void)
void QuadPlane::control_loiter()
{
if (throttle_wait) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0);
pos_control->relax_alt_hold_controllers(0);
wp_nav->init_loiter_target();
@ -631,7 +638,10 @@ void QuadPlane::control_loiter()
wp_nav->init_loiter_target();
}
last_loiter_ms = millis();
// motors use full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initialize vertical speed and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z);
@ -791,7 +801,8 @@ void QuadPlane::update_transition(void)
plane.control_mode == ACRO ||
plane.control_mode == TRAINING) {
// in manual modes quad motors are always off
motors->output_min();
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
motors->output();
transition_state = TRANSITION_DONE;
return;
}
@ -861,7 +872,7 @@ void QuadPlane::update_transition(void)
}
case TRANSITION_DONE:
motors->output_min();
motors->output();
break;
}
}
@ -1216,7 +1227,6 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
if (!setup()) {
return false;
}
motors->slow_start(true);
pid_rate_roll.reset_I();
pid_rate_pitch.reset_I();
pid_rate_yaw.reset_I();