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CoaxCopter: set throttle upper and lower flags

This commit is contained in:
Randy Mackay 2014-10-04 23:30:48 +09:00
parent 57f6d0ff60
commit 793ed20534
1 changed files with 13 additions and 1 deletions
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14
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -152,7 +152,14 @@ void AP_MotorsCoax::output_armed()
int16_t motor_out[4];
// Throttle is 0 to 1000 only
_rc_throttle.servo_out = constrain_int16(_rc_throttle.servo_out, 0, _max_throttle);
if (_rc_throttle.servo_out <= 0) {
_rc_throttle.servo_out = 0;
limit.throttle_lower = true;
}
if (_rc_throttle.servo_out >= _max_throttle) {
_rc_throttle.servo_out = _max_throttle;
limit.throttle_upper = true;
}
// capture desired throttle and yaw from receiver
_rc_throttle.calc_pwm();
@ -171,6 +178,11 @@ void AP_MotorsCoax::output_armed()
motor_out[AP_MOTORS_MOT_4] = _rc_throttle.radio_min + _spin_when_armed;
}else{
// check if throttle is below limit
if (_rc_throttle.servo_out <= _min_throttle) { // perhaps being at min throttle itself is not a problem, only being under is
limit.throttle_lower = true;
}
// motors
motor_out[AP_MOTORS_MOT_3] = _rev_yaw*_rc_yaw.pwm_out + _rc_throttle.radio_out;
motor_out[AP_MOTORS_MOT_4] = -_rev_yaw*_rc_yaw.pwm_out +_rc_throttle.radio_out;