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Plane: don't do throttle ESC scaling for quadplanes

This commit is contained in:
Andrew Tridgell 2018-05-05 17:54:57 +10:00
parent ef23672a76
commit 8d996112ec
1 changed files with 6 additions and 3 deletions
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9
ArduPlane/radio.cpp
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@ -38,9 +38,12 @@ void Plane::set_control_channels(void)
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, aparm.throttle_min<0?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
// take a proportion of speed
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
if (!quadplane.enable) {
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
// take a proportion of speed. For quadplanes we use AP_Motors
// scaling
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
}
}
/*