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Copter: fix esc calibration is safety switch has been disabled

This commit is contained in:
Randy Mackay 2017-05-10 14:33:05 +09:00
parent b0311c4ef3
commit 84946ca668
1 changed files with 7 additions and 1 deletions
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8
ArduCopter/esc_calibration.cpp
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@ -97,6 +97,9 @@ void Copter::esc_calibration_passthrough()
// send message to GCS // send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs"); gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
// disable safety if requested
BoardConfig.init_safety();
// arm motors // arm motors
motors->armed(true); motors->armed(true);
motors->enable(); motors->enable();
@ -109,7 +112,7 @@ void Copter::esc_calibration_passthrough()
// read pilot input // read pilot input
read_radio(); read_radio();
// we run at high rate do make oneshot ESCs happy. Normal ESCs // we run at high rate to make oneshot ESCs happy. Normal ESCs
// will only see pulses at the RC_SPEED // will only see pulses at the RC_SPEED
delay(3); delay(3);
@ -139,6 +142,9 @@ void Copter::esc_calibration_auto()
// send message to GCS // send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration"); gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
// disable safety if requested
BoardConfig.init_safety();
// arm and enable motors // arm and enable motors
motors->armed(true); motors->armed(true);
motors->enable(); motors->enable();