mirror of https://github.com/ArduPilot/ardupilot
Copter: circle uses AP_Motors set_desired_spool_state
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@ -49,7 +49,7 @@ void Copter::circle_run()
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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@ -78,7 +78,7 @@ void Copter::circle_run()
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// run circle controller
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circle_nav.update();
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