Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: Ensure that only one form of throttle nudging is active at once

This commit is contained in:
Michael du Breuil 2020-07-30 13:26:49 -07:00 committed by Andrew Tridgell
parent 5ffd40f973
commit 6c5d6330c3
1 changed files with 2 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduPlane/radio.cpp
View File

@ -202,6 +202,8 @@ void Plane::read_radio()
control_failsafe();
airspeed_nudge_cm = 0;
throttle_nudge = 0;
if (g.throttle_nudge && channel_throttle->get_control_in() > 50 && geofence_stickmixing()) {
float nudge = (channel_throttle->get_control_in() - 50) * 0.02f;
if (ahrs.airspeed_sensor_enabled()) {
@ -209,9 +211,6 @@ void Plane::read_radio()
} else {
throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;
}
} else {
airspeed_nudge_cm = 0;
throttle_nudge = 0;
}
rudder_arm_disarm_check();