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Plane: reorder set_throttle function

This commit is contained in:
Iampete1 2024-02-13 00:44:45 +00:00 committed by Andrew Tridgell
parent c449c71286
commit 5216dc92f9
1 changed files with 30 additions and 32 deletions
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62
ArduPlane/servos.cpp
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@ -547,38 +547,6 @@ float Plane::apply_throttle_limits(float throttle_in)
void Plane::set_throttle(void) void Plane::set_throttle(void)
{ {
if (!arming.is_armed_and_safety_off()) {
// Always set 0 scaled even if overriding to zero pwm.
// This ensures slew limits and other functions using the scaled value pick up in the correct place
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0.0);
if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
}
return;
}
if (suppress_throttle()) {
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
} else if (landing.is_flaring() && landing.use_thr_min_during_flare() ) {
// throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines:
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get());
} else {
// default
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
}
return;
}
// Update voltage scaling // Update voltage scaling
g2.fwd_batt_cmp.update(); g2.fwd_batt_cmp.update();
@ -593,6 +561,36 @@ void Plane::set_throttle(void)
const float limited_throttle = apply_throttle_limits(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)); const float limited_throttle = apply_throttle_limits(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle);
} }
if (!arming.is_armed_and_safety_off()) {
// Always set 0 scaled even if overriding to zero pwm.
// This ensures slew limits and other functions using the scaled value pick up in the correct place
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0.0);
if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
}
} else if (suppress_throttle()) {
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
} else if (landing.is_flaring() && landing.use_thr_min_during_flare() ) {
// throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines:
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get());
} else {
// default
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
}
}
} }
/* /*