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Rework prev commit a bit cleaner as suggested by Janne Mäntyharju

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This commit is contained in:
Doug Weibel 2011-09-28 14:35:28 -06:00
parent 3fff788f95
commit adbe965f35
1 changed files with 18 additions and 8 deletions
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26
ArduPlane/Attitude.pde
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@ -302,15 +302,25 @@ static void set_servos(void)
#else #else
// convert 0 to 100% into PWM // convert 0 to 100% into PWM
g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get()); g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
if (g.airspeed_enabled == true) {
// We want to supress the throttle if we think we are on the ground and in an autopilot controlled throttle mode. // We want to supress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
if((control_mode==Circle || control_mode>=FBW_B) && current_loc.alt-home.alt < 500 && airspeed< 500) { /* Disable throttle if following conditions are met:
if(!(control_mode==Auto && takeoff_complete == false) g.channel_throttle.servo_out = 0; 1 - We are in Circle mode (which we use for short term failsafe), or in FBW-B or higher
} AND
} else { 2 - Our reported altitude is within 10 meters of the home altitude.
if((control_mode==Circle || control_mode>=FBW_B) && current_loc.alt-home.alt < 500 && g_gps->ground_speed < 500) { 3 - Our reported speed is under 5 meters per second.
if(!(control_mode==Auto && takeoff_complete == false) g.channel_throttle.servo_out = 0; 4 - We are not performing a takeoff in Auto mode
} OR
5 - Home location is not set
*/
if (
(control_mode == CIRCLE || control_mode >= FLY_BY_WIRE_B) &&
(abs(home.alt - current_loc.alt) < 1000) &&
((g.airspeed_enabled ? airspeed : g_gps->ground_speed) < 500 ) &&
!(control_mode==Auto && takeoff_complete == false)
) {
g.channel_throttle.servo_out = 0;
g.channel_throttle.calc_pwm();
} }
#endif #endif