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Copter: set throttle_mix to min when disarmed

This commit is contained in:
Leonard Hall 2015-06-17 22:08:20 +09:00 committed by Randy Mackay
parent 8cdfac8fcd
commit 911bee3518
1 changed files with 7 additions and 1 deletions
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8
ArduCopter/land_detector.cpp
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@ -113,9 +113,15 @@ void Copter::set_land_complete_maybe(bool b)
// has no effect when throttle is above hover throttle
void Copter::update_throttle_thr_mix()
{
// if disarmed prioritise throttle
if(!motors.armed()) {
motors.set_throttle_mix_min();
return;
}
if (mode_has_manual_throttle(control_mode)) {
// manual throttle
if(!motors.armed() || channel_throttle->control_in <= 0) {
if(channel_throttle->control_in <= 0) {
motors.set_throttle_mix_min();
} else {
motors.set_throttle_mix_mid();