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ArduCopter: just call set_throttle_range()

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Now set_throttle_range in AP_Motors does the right thing, calling out
the RCOutput method.
This commit is contained in:
Lucas De Marchi 2017-02-09 23:35:34 -08:00 committed by Andrew Tridgell
parent ade1876318
commit a589a84e32
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/radio.cpp
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@ -53,6 +53,10 @@ void Copter::init_rc_out()
motors->init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get()); motors->init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
motors->set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max()); motors->set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#else
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
// take a proportion of speed.
hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif #endif
// delay up to 2 second for first radio input // delay up to 2 second for first radio input
@ -62,10 +66,6 @@ void Copter::init_rc_out()
read_radio(); read_radio();
} }
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
// take a proportion of speed.
hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
// check if we should enter esc calibration mode // check if we should enter esc calibration mode
esc_calibration_startup_check(); esc_calibration_startup_check();