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ACMotors: ESC Calibration only for enabled motors

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This commit is contained in:
Randy Mackay 2013-05-14 17:07:36 +09:00
parent 33d1129904
commit 5bb0582854
2 changed files with 8 additions and 6 deletions
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12
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -73,13 +73,15 @@ void AP_Motors::Init()
setup_throttle_curve();
};
// throttle_pass_through - passes throttle through to motors - dangerous but used for initialising ESCs
// throttle_pass_through - passes pilot's throttle input directly to all motors - dangerous but used for initialising ESCs
void AP_Motors::throttle_pass_through()
{
if( armed() ) {
// XXX
for( int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
hal.rcout->write(_motor_to_channel_map[i], _rc_throttle->radio_in);
if (armed()) {
// send the pilot's input directly to each enabled motor
for (int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
hal.rcout->write(_motor_to_channel_map[i], _rc_throttle->radio_in);
}
}
}
}

2
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -126,7 +126,7 @@ public:
virtual void output_test() {
};
// throttle_pass_through - passes throttle through to motors - dangerous but required for initialising ESCs
// throttle_pass_through - passes pilot's throttle input directly to all motors - dangerous but used for initialising ESCs
virtual void throttle_pass_through();
// setup_throttle_curve - used to linearlise thrust output by motors