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Copter: pull out a zero_throttle_and_relax function

This commit is contained in:
Peter Barker 2016-11-17 16:46:52 +11:00 committed by Francisco Ferreira
parent 4c7491a05b
commit 41dc8554c0
2 changed files with 15 additions and 1 deletions
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14
ArduCopter/mode.cpp
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@ -243,7 +243,6 @@ void Copter::Mode::update_navigation()
run_autopilot();
}
bool Copter::Mode::takeoff_triggered(const float target_climb_rate) const
{
if (!ap.land_complete) {
@ -262,3 +261,16 @@ bool Copter::Mode::takeoff_triggered(const float target_climb_rate) const
#endif
return true;
}
void Copter::Mode::zero_throttle_and_relax_ac()
{
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
attitude_control->set_throttle_out(0,false,g.throttle_filt);
#else
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
}

2
ArduCopter/mode.h
View File

@ -166,6 +166,8 @@ protected:
}
// end pass-through functions
void zero_throttle_and_relax_ac();
};