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AP_Motors: force roll motors to 0 in tailsitter when disarmed

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This commit is contained in:
Andrew Tridgell 2017-04-14 13:01:48 +10:00
parent b15b11e32d
commit 6f54eef857
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -49,6 +49,9 @@ void AP_MotorsTailsitter::output_to_motors()
if (!_flags.initialised_ok) {
return;
}
float throttle_left = 0;
float throttle_right = 0;
switch (_spool_mode) {
case SHUT_DOWN:
_throttle = 0;
@ -60,6 +63,8 @@ void AP_MotorsTailsitter::output_to_motors()
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_DOWN:
throttle_left = constrain_float(_throttle + _rudder*0.5, 0, 1);
throttle_right = constrain_float(_throttle - _rudder*0.5, 0, 1);
break;
}
// outputs are setup here, and written to the HAL by the plane servos loop
@ -69,8 +74,6 @@ void AP_MotorsTailsitter::output_to_motors()
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, _throttle*THROTTLE_RANGE);
// also support differential roll with twin motors
float throttle_left = constrain_float(_throttle + _rudder*0.5, 0, 1);
float throttle_right = constrain_float(_throttle - _rudder*0.5, 0, 1);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left*THROTTLE_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right*THROTTLE_RANGE);