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Copter: acro uses AP_Motors set_desired_spool_state

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This commit is contained in:
Randy Mackay 2016-02-02 21:15:18 +09:00
parent 56f05e6a96
commit 668561ff0e
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/control_acro.cpp
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@ -28,7 +28,7 @@ void Copter::acro_run()
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) { if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED); motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
// slow start if landed // slow start if landed
if (ap.land_complete) { if (ap.land_complete) {
@ -37,7 +37,7 @@ void Copter::acro_run()
return; return;
} }
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// convert the input to the desired body frame rate // convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw); get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);