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Copter: use zero_throttle_and_relax_ac in poshold, drift and autotune

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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
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3
ArduCopter/mode_autotune.cpp
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@ -328,8 +328,7 @@ void Copter::ModeAutoTune::run()
// 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
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
zero_throttle_and_relax_ac();
pos_control->relax_alt_hold_controllers(0.0f);
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 (!motors->armed() || !motors->get_interlock() || (ap.land_complete && ap.throttle_zero)) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
zero_throttle_and_relax_ac();
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 (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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);
return;
}