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Plane: tailsitter: allow motor test

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This commit is contained in:
Peter Hall 2020-01-19 16:46:00 +00:00 committed by Andrew Tridgell
parent d08b395224
commit 90494c9de6
1 changed files with 8 additions and 11 deletions
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19
ArduPlane/tailsitter.cpp
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@ -54,7 +54,8 @@ bool QuadPlane::tailsitter_active(void)
*/
void QuadPlane::tailsitter_output(void)
{
if (!is_tailsitter()) {
if (!is_tailsitter() || motor_test.running) {
// if motor test is running we don't want to overwrite it with output_motor_mask or motors_output
return;
}
@ -88,18 +89,14 @@ void QuadPlane::tailsitter_output(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
pos_control->get_accel_z_pid().set_integrator(throttle*10);
if (mask == 0) {
// override AP_MotorsTailsitter throttles during back transition
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle);
}
}
if (mask != 0) {
// set AP_MotorsMatrix throttles enabled for forward flight
motors->output_motor_mask(throttle * 0.01f, mask, plane.rudder_dt);
// override AP_MotorsTailsitter throttles during back transition
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle);
}
}
// set AP_MotorsMatrix throttles for forward flight
motors->output_motor_mask(throttle * 0.01f, mask, plane.rudder_dt);
return;
}