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Copter: sport uses throttle in 0 to 1 range and sets motor spool state

This commit is contained in:
Leonard Hall 2016-01-18 12:53:22 +09:00 committed by Randy Mackay
parent 263052da21
commit 8a49745e96
1 changed files with 10 additions and 2 deletions
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12
ArduCopter/control_sport.cpp
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@ -33,7 +33,8 @@ void Copter::sport_run()
pos_control.set_accel_z(g.pilot_accel_z);
// if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || ap.throttle_zero) {
if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
return;
@ -91,10 +92,17 @@ void Copter::sport_run()
// reset target lean angles and heading while landed
if (ap.land_complete) {
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
}else{
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
}
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
}else{
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller
attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);