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Copter: don't spin motors in ALTHOLD with zero throttle

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Randy Mackay 2013-05-27 10:42:22 +09:00
parent dbd6524f9f
commit 838fb3f4e2
1 changed files with 17 additions and 8 deletions
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25
ArduCopter/ArduCopter.pde
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@ -1891,14 +1891,20 @@ void update_throttle_mode(void)
break;
case THROTTLE_HOLD:
// alt hold plus pilot input of climb rate
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
if( sonar_alt_health >= SONAR_ALT_HEALTH_MAX ) {
// if sonar is ok, use surface tracking
get_throttle_surface_tracking(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
if(ap.auto_armed) {
// alt hold plus pilot input of climb rate
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
if( sonar_alt_health >= SONAR_ALT_HEALTH_MAX ) {
// if sonar is ok, use surface tracking
get_throttle_surface_tracking(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
}else{
// if no sonar fall back stabilize rate controller
get_throttle_rate_stabilized(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
}
}else{
// if no sonar fall back stabilize rate controller
get_throttle_rate_stabilized(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
// pilot's throttle must be at zero so keep motors off
set_throttle_out(0, false);
set_target_alt_for_reporting(0);
}
break;
@ -1907,8 +1913,11 @@ void update_throttle_mode(void)
if(ap.auto_armed) {
get_throttle_althold_with_slew(wp_nav.get_desired_alt(), -wp_nav.get_descent_velocity(), wp_nav.get_climb_velocity());
set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint
}else{
// pilot's throttle must be at zero so keep motors off
set_throttle_out(0, false);
set_target_alt_for_reporting(0);
}
// To-Do: explicitly set what the throttle output should be (probably min throttle). Without setting it the throttle is simply left in it's last position although that is probably zero throttle anyway
break;
case THROTTLE_LAND: