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Rover: only mode manual directly copies rc input to motors

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This commit is contained in:
Randy Mackay 2017-07-18 16:29:05 +09:00
parent f17f56dea4
commit 6626c2e12e
2 changed files with 5 additions and 6 deletions
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7
APMrover2/mode_manual.cpp
View File

@ -3,7 +3,10 @@
void ModeManual::update() void ModeManual::update()
{ {
// mark us as in_reverse when using a negative throttle to // copy RC scaled inputs to outputs
// stop AHRS getting off g2.motors.set_throttle(channel_throttle->get_control_in());
g2.motors.set_steering(channel_steer->get_control_in());
// mark us as in_reverse when using a negative throttle to stop AHRS getting off
rover.set_reverse(is_negative(g2.motors.get_throttle())); rover.set_reverse(is_negative(g2.motors.get_throttle()));
} }

4
APMrover2/radio.cpp
View File

@ -152,10 +152,6 @@ void Rover::read_radio()
channel_throttle->set_pwm(thr); channel_throttle->set_pwm(thr);
} }
// copy RC scaled inputs to outputs
g2.motors.set_throttle(channel_throttle->get_control_in());
g2.motors.set_steering(channel_steer->get_control_in());
// check if we try to do RC arm/disarm // check if we try to do RC arm/disarm
rudder_arm_disarm_check(); rudder_arm_disarm_check();
} }