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Copter: Correctly set limit.lower flags for Tricopters

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Resolves #536
This commit is contained in:
texlan 2013-09-12 10:36:58 -07:00 committed by Randy Mackay
parent 78c4e03fd5
commit 53553751d1
1 changed files with 13 additions and 0 deletions
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13
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -67,6 +67,8 @@ void AP_MotorsTri::enable()
// output_min - sends minimum values out to the motors
void AP_MotorsTri::output_min()
{
// set lower limit flag
limit.throttle_lower = true;
// fill the motor_out[] array for HIL use
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min;
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min;
@ -85,6 +87,9 @@ void AP_MotorsTri::output_armed()
int16_t out_min = _rc_throttle->radio_min + _min_throttle;
int16_t out_max = _rc_throttle->radio_max;
// initialize lower limit flag
limit.throttle_lower = false;
// Throttle is 0 to 1000 only
_rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle);
@ -106,10 +111,18 @@ void AP_MotorsTri::output_armed()
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min + _spin_when_armed;
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min + _spin_when_armed;
motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min + _spin_when_armed;
// Every thing is limited
limit.throttle_lower = true;
}else{
int16_t roll_out = (float)_rc_roll->pwm_out * 0.866f;
int16_t pitch_out = _rc_pitch->pwm_out / 2;
// check if throttle is below limit
if (_rc_throttle->radio_out <= out_min) {
limit.throttle_lower = true;
}
//left front
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_out + roll_out + pitch_out;
//right front