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Plane: don't output throtte in when safe

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Iampete1 2021-07-18 14:33:16 +01:00 committed by Andrew Tridgell
parent c6efbdd359
commit 59a158d7be
1 changed files with 1 additions and 10 deletions
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11
ArduPlane/radio.cpp
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@ -47,10 +47,6 @@ void Plane::set_control_channels(void)
// update manual forward throttle channel assignment // update manual forward throttle channel assignment
quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR); quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);
if (!arming.is_armed() && arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::Limit::TRIM:SRV_Channel::Limit::MIN);
}
if (!quadplane.enable) { if (!quadplane.enable) {
// setup correct scaling for ESCs like the UAVCAN ESCs which // setup correct scaling for ESCs like the UAVCAN ESCs which
// take a proportion of speed. For quadplanes we use AP_Motors // take a proportion of speed. For quadplanes we use AP_Motors
@ -90,12 +86,7 @@ void Plane::init_rc_out_main()
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::TRIM); SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM); SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::TRIM); SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::TRIM);
// setup flight controller to output the min throttle when safety off if arming
// is setup for min on disarm
if (arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::Limit::TRIM:SRV_Channel::Limit::MIN);
}
} }
/* /*