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Plane: allow set_takeoff_expected in manual mode

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Iampete1 2023-12-10 17:42:34 +00:00 committed by Andrew Tridgell
parent 740b04aed3
commit 5642d2449a
1 changed files with 4 additions and 7 deletions
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11
ArduPlane/servos.cpp
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@ -472,13 +472,8 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
/* /*
setup output channels all non-manual modes setup output channels all non-manual modes
*/ */
void Plane::set_servos_controlled(void) void Plane::set_throttle(void)
{ {
if (flight_stage == AP_FixedWing::FlightStage::LAND) {
// allow landing to override servos if it would like to
landing.override_servos();
}
// convert 0 to 100% (or -100 to +100) into PWM // convert 0 to 100% (or -100 to +100) into PWM
int8_t min_throttle = aparm.throttle_min.get(); int8_t min_throttle = aparm.throttle_min.get();
int8_t max_throttle = aparm.throttle_max.get(); int8_t max_throttle = aparm.throttle_max.get();
@ -836,9 +831,11 @@ void Plane::set_servos(void)
if (control_mode != &mode_manual) { if (control_mode != &mode_manual) {
set_throttle(); set_throttle();
set_takeoff_expected();
} }
// Warn AHRS if we might take off soon
set_takeoff_expected();
// setup flap outputs // setup flap outputs
set_servos_flaps(); set_servos_flaps();