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Plane: output nav scripting throttle with rest of nav scripting stuff

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Iampete1 2024-02-06 01:01:02 +00:00 committed by Andrew Tridgell
parent 3aa742e1b9
commit 6b32227d2f
3 changed files with 1 additions and 7 deletions
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1
ArduPlane/Attitude.cpp
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@ -420,6 +420,7 @@ void Plane::stabilize()
} }
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, rudder); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, rudder);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, rudder); SRV_Channels::set_output_scaled(SRV_Channel::k_steering, rudder);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
#endif #endif
} else { } else {
plane.control_mode->run(); plane.control_mode->run();

1
ArduPlane/mode_auto.cpp
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@ -102,7 +102,6 @@ void ModeAuto::update()
// NAV_SCRIPTING has a desired roll and pitch rate and desired throttle // NAV_SCRIPTING has a desired roll and pitch rate and desired throttle
plane.nav_roll_cd = ahrs.roll_sensor; plane.nav_roll_cd = ahrs.roll_sensor;
plane.nav_pitch_cd = ahrs.pitch_sensor; plane.nav_pitch_cd = ahrs.pitch_sensor;
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
#endif #endif
} else { } else {
// we are doing normal AUTO flight, the special cases // we are doing normal AUTO flight, the special cases

6
ArduPlane/servos.cpp
View File

@ -582,12 +582,6 @@ void Plane::set_throttle(void)
// Update voltage scaling // Update voltage scaling
g2.fwd_batt_cmp.update(); g2.fwd_batt_cmp.update();
#if AP_SCRIPTING_ENABLED
if (nav_scripting_active()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
}
#endif
if (control_mode->use_battery_compensation()) { if (control_mode->use_battery_compensation()) {
// Apply voltage compensation to throttle output from flight mode // Apply voltage compensation to throttle output from flight mode
const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)); const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));