mirror of https://github.com/ArduPilot/ardupilot
Plane: don't output throtte in when safe
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@ -47,10 +47,6 @@ void Plane::set_control_channels(void)
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// update manual forward throttle channel assignment
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quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);
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if (!arming.is_armed() && arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) {
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SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::Limit::TRIM:SRV_Channel::Limit::MIN);
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}
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if (!quadplane.enable) {
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// setup correct scaling for ESCs like the UAVCAN ESCs which
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// take a proportion of speed. For quadplanes we use AP_Motors
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@ -90,12 +86,7 @@ void Plane::init_rc_out_main()
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::TRIM);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::TRIM);
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// setup flight controller to output the min throttle when safety off if arming
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// is setup for min on disarm
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if (arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) {
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SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::Limit::TRIM:SRV_Channel::Limit::MIN);
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}
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}
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/*
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