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AP_MotorsUGV: force throttle to zero when disarmed

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This commit is contained in:
Randy Mackay 2018-05-02 17:26:32 +09:00
parent 34e5f521ad
commit 57b46f5a49
1 changed files with 5 additions and 0 deletions
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5
APMrover2/AP_MotorsUGV.cpp
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@ -159,6 +159,10 @@ void AP_MotorsUGV::set_steering(float steering)
// set throttle as a value from -100 to 100 // set throttle as a value from -100 to 100
void AP_MotorsUGV::set_throttle(float throttle) void AP_MotorsUGV::set_throttle(float throttle)
{ {
// only allow setting throttle if armed
if (!hal.util->get_soft_armed()) {
return;
}
// check throttle is between -_throttle_max ~ +_throttle_max but outside -throttle_min ~ +throttle_min // check throttle is between -_throttle_max ~ +_throttle_max but outside -throttle_min ~ +throttle_min
_throttle = constrain_float(throttle, -_throttle_max, _throttle_max); _throttle = constrain_float(throttle, -_throttle_max, _throttle_max);
@ -181,6 +185,7 @@ void AP_MotorsUGV::output(bool armed, float dt)
// soft-armed overrides passed in armed status // soft-armed overrides passed in armed status
if (!hal.util->get_soft_armed()) { if (!hal.util->get_soft_armed()) {
armed = false; armed = false;
_throttle = 0.0f;
} }
// sanity check parameters // sanity check parameters