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Copter: guided uses AP_Motors set_desired_spool_state

This commit is contained in:
Randy Mackay 2016-02-02 21:19:25 +09:00
parent 4deb6fd39d
commit 94b35d659e
1 changed files with 10 additions and 10 deletions
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20
ArduCopter/control_guided.cpp
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@ -271,7 +271,7 @@ void Copter::guided_takeoff_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
@ -286,7 +286,7 @@ void Copter::guided_takeoff_run()
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav.update_wpnav();
@ -309,7 +309,7 @@ void Copter::guided_pos_control_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
@ -327,7 +327,7 @@ void Copter::guided_pos_control_run()
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav.update_wpnav();
@ -358,7 +358,7 @@ void Copter::guided_vel_control_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
@ -376,7 +376,7 @@ void Copter::guided_vel_control_run()
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// set velocity to zero if no updates received for 3 seconds
uint32_t tnow = millis();
@ -411,7 +411,7 @@ void Copter::guided_posvel_control_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
@ -430,7 +430,7 @@ void Copter::guided_posvel_control_run()
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// set velocity to zero if no updates received for 3 seconds
uint32_t tnow = millis();
@ -483,7 +483,7 @@ void Copter::guided_angle_control_run()
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0.0f, 0.0f, 0.0f, get_smoothing_gain());
attitude_control.set_throttle_out(0.0f,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt);
#endif
@ -517,7 +517,7 @@ void Copter::guided_angle_control_run()
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true);