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Copter: fix esc calibration for one-shot

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the cork and push need to be done from the vehicle level
This commit is contained in:
Randy Mackay 2017-05-22 18:06:32 +09:00
parent f618359041
commit 5fad98078f
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/esc_calibration.cpp
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@ -104,6 +104,7 @@ void Copter::esc_calibration_passthrough()
motors->armed(true);
motors->enable();
SRV_Channels::enable_by_mask(motors->get_motor_mask());
hal.util->set_soft_armed(true);
while(1) {
// flash LEDs
@ -117,7 +118,9 @@ void Copter::esc_calibration_passthrough()
delay(3);
// pass through to motors
hal.rcout->cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
hal.rcout->push();
}
#endif // FRAME_CONFIG != HELI_FRAME
}
@ -149,6 +152,7 @@ void Copter::esc_calibration_auto()
motors->armed(true);
motors->enable();
SRV_Channels::enable_by_mask(motors->get_motor_mask());
hal.util->set_soft_armed(true);
// flash LEDs
esc_calibration_notify();
@ -162,7 +166,9 @@ void Copter::esc_calibration_auto()
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
printed_msg = true;
}
hal.rcout->cork();
motors->set_throttle_passthrough_for_esc_calibration(1.0f);
hal.rcout->push();
esc_calibration_notify();
delay(3);
}