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Copter: remove zero-throttle check from AltHold takeoff state

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Hard to imagine a reason why we would want to turn off stabilization during takeoff
This commit is contained in:
Randy Mackay 2016-05-05 21:47:07 +09:00
parent 2a7edfd3d1
commit 3ead74c4be
1 changed files with 0 additions and 9 deletions
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9
ArduCopter/control_althold.cpp
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@ -124,15 +124,6 @@ void Copter::althold_run()
// get take-off adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
return;
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);