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SingleCopter: set throttle upper and lower flags

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This commit is contained in:
Randy Mackay 2014-10-04 23:29:02 +09:00
parent 85fb4b122a
commit 57f6d0ff60
1 changed files with 15 additions and 2 deletions
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17
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -166,7 +166,14 @@ void AP_MotorsSingle::output_armed()
int16_t motor_out; // main motor output
// Throttle is 0 to 1000 only
_rc_throttle.servo_out = constrain_int16(_rc_throttle.servo_out, 0, _max_throttle);
if (_rc_throttle.servo_out <= 0) {
_rc_throttle.servo_out = 0;
limit.throttle_lower = true;
}
if (_rc_throttle.servo_out >= _max_throttle) {
_rc_throttle.servo_out = _max_throttle;
limit.throttle_upper = true;
}
// capture desired throttle from receiver
_rc_throttle.calc_pwm();
@ -180,9 +187,15 @@ void AP_MotorsSingle::output_armed()
if (_spin_when_armed > _min_throttle) {
_spin_when_armed = _min_throttle;
}
// throttle is limited
motor_out = _rc_throttle.radio_min + _spin_when_armed;
}else{
// check if throttle is at or below limit
if (_rc_throttle.servo_out <= _min_throttle) {
limit.throttle_lower = true;
}
//motor
motor_out = _rc_throttle.radio_out;