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Copter: move thr control to control_stabilize

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Randy Mackay 2013-12-17 13:25:09 +09:00 committed by Andrew Tridgell
parent 2253cf9769
commit 7f56b28767
2 changed files with 24 additions and 5 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1101,10 +1101,6 @@ static void throttle_loop()
// get altitude and climb rate from inertial lib
read_inertial_altitude();
// Update the throttle ouput
// -------------------------
update_throttle_mode();
// check if we've landed
update_land_detector();

25
ArduCopter/control_stabilize.pde
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@ -97,7 +97,30 @@ static void stabilize_run()
// body-frame rate controller is run directly from 100hz loop
// To-Do: add throttle control for stabilize mode here?
// do not run throttle controllers if motors disarmed
if( !motors.armed() || g.rc_3.control_in <= 0) {
attitude_control.set_throttle_out(0, false);
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
set_target_alt_for_reporting(0);
}else{
// manual throttle but with angle boost
int16_t pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
attitude_control.set_throttle_out(pilot_throttle_scaled, false);
// update estimate of throttle cruise
#if FRAME_CONFIG == HELI_FRAME
update_throttle_cruise(motors.get_collective_out());
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
if (!ap.takeoff_complete && motors.armed()) {
if (pilot_throttle_scaled > g.throttle_cruise) {
// we must be in the air by now
set_takeoff_complete(true);
}
}
}
}
// althold_init - initialise althold controller