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Plane: allow for throttle control in MANUAL when disarmed

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pass base throttle down to ICE subsystem to allow for throttle when
disarmed in MANUAL
This commit is contained in:
Andrew Tridgell 2022-07-10 16:11:28 +10:00 committed by Randy Mackay
parent 431fbacb2c
commit 4e141fc67f
1 changed files with 5 additions and 3 deletions
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8
ArduPlane/servos.cpp
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@ -880,6 +880,8 @@ 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.
@ -905,9 +907,9 @@ void Plane::set_servos(void)
}
}
uint8_t override_pct;
if (g2.ice_control.throttle_override(override_pct)) {
// the ICE controller wants to override the throttle for starting
float override_pct = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
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
quadplane.vel_forward.integrator = 0;