Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-30 20:48:33 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: always stabilize with tailsitters

Browse Source
This commit is contained in:
Andrew Tridgell 2017-04-14 12:48:08 +10:00
parent 7992a21f6f
commit b15b11e32d
1 changed files with 6 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/quadplane.cpp
View File

@ -693,7 +693,12 @@ void QuadPlane::hold_stabilize(float throttle_in)
if (throttle_in <= 0) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0);
if (is_tailsitter()) {
// always stabilize with tailsitters so we can do belly takeoffs
attitude_control->set_throttle_out(0, true, 0);
} else {
attitude_control->set_throttle_out_unstabilized(0, true, 0);
}
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
attitude_control->set_throttle_out(throttle_in, true, 0);