Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 09:43:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: pass rudder diffential thrust to AP_motors

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/tiltrotor.cpp
View File

@ -80,7 +80,7 @@ void QuadPlane::tiltrotor_continuous_update(void)
} else {
// 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();
motors->output_motor_mask(tilt.current_throttle, mask);
motors->output_motor_mask(tilt.current_throttle, mask, plane.rudder_dt);
// prevent motor shutdown
tilt.motors_active = true;
}
@ -167,7 +167,7 @@ void QuadPlane::tiltrotor_binary_update(void)
if (tilt.current_tilt >= 1) {
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
motors->output_motor_mask(new_throttle, mask);
motors->output_motor_mask(new_throttle, mask, plane.rudder_dt);
}
} else {
tiltrotor_binary_slew(false);