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Plane: pass rudder diffential thrust to AP_motors

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IamPete1 2018-12-29 15:42:53 +00:00 committed by Andrew Tridgell
parent eaed0a2d47
commit 9c0ac5899f
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/tiltrotor.cpp
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@ -80,7 +80,7 @@ void QuadPlane::tiltrotor_continuous_update(void)
} else { } else {
// the motors are all the way forward, start using them for fwd thrust // the motors are all the way forward, start using them for fwd thrust
uint8_t mask = is_zero(tilt.current_throttle)?0:(uint8_t)tilt.tilt_mask.get(); uint8_t mask = is_zero(tilt.current_throttle)?0:(uint8_t)tilt.tilt_mask.get();
motors->output_motor_mask(tilt.current_throttle, mask); motors->output_motor_mask(tilt.current_throttle, mask, plane.rudder_dt);
// prevent motor shutdown // prevent motor shutdown
tilt.motors_active = true; tilt.motors_active = true;
} }
@ -167,7 +167,7 @@ void QuadPlane::tiltrotor_binary_update(void)
if (tilt.current_tilt >= 1) { if (tilt.current_tilt >= 1) {
uint8_t mask = is_zero(new_throttle)?0:(uint8_t)tilt.tilt_mask.get(); uint8_t mask = is_zero(new_throttle)?0:(uint8_t)tilt.tilt_mask.get();
// the motors are all the way forward, start using them for fwd thrust // the motors are all the way forward, start using them for fwd thrust
motors->output_motor_mask(new_throttle, mask); motors->output_motor_mask(new_throttle, mask, plane.rudder_dt);
} }
} else { } else {
tiltrotor_binary_slew(false); tiltrotor_binary_slew(false);