Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 12:14:10 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: use zero_throttle_and_relax_ac in poshold, drift and autotune

Browse Source
This commit is contained in:
Peter Barker 2017-12-29 13:37:22 +11:00 committed by Randy Mackay
parent 1513246040
commit ab7a9c9073
3 changed files with 3 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduCopter/mode_autotune.cpp
View File

@ -328,8 +328,7 @@ void Copter::ModeAutoTune::run()
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
// this should not actually be possible because of the init() checks // this should not actually be possible because of the init() checks
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) { if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); zero_throttle_and_relax_ac();
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control->relax_alt_hold_controllers(0.0f); pos_control->relax_alt_hold_controllers(0.0f);
return; return;
} }

3
ArduCopter/mode_drift.cpp
View File

@ -48,8 +48,7 @@ void Copter::ModeDrift::run()
// if landed and throttle at zero, set throttle to zero and exit immediately // if landed and throttle at zero, set throttle to zero and exit immediately
if (!motors->armed() || !motors->get_interlock() || (ap.land_complete && ap.throttle_zero)) { if (!motors->armed() || !motors->get_interlock() || (ap.land_complete && ap.throttle_zero)) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); zero_throttle_and_relax_ac();
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
return; return;
} }

3
ArduCopter/mode_poshold.cpp
View File

@ -140,9 +140,8 @@ void Copter::ModePosHold::run()
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) { if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
wp_nav->init_loiter_target(); wp_nav->init_loiter_target();
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt); zero_throttle_and_relax_ac();
pos_control->relax_alt_hold_controllers(0.0f); pos_control->relax_alt_hold_controllers(0.0f);
return; return;
} }