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Copter: inform GCS that turtle mode is active

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This commit is contained in:
Andy Piper 2022-11-19 17:33:16 +00:00 committed by Randy Mackay
parent e02e89a474
commit bcabaf0e74
2 changed files with 8 additions and 1 deletions
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1
ArduCopter/mode.h
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@ -1665,6 +1665,7 @@ private:
float motors_output;
Vector2f motors_input;
uint32_t last_throttle_warning_output_ms;
};
#endif

8
ArduCopter/mode_turtle.cpp
View File

@ -159,7 +159,7 @@ void ModeTurtle::run()
// at this point we have a power value in the range 0..1
// notmalise the roll and pitch input to match the motors
// normalise the roll and pitch input to match the motors
Vector2f input{sign_roll, sign_pitch};
motors_input = input.normalized() * 0.5;
// we bypass spin min and friends in the deadzone because we only want spin up when the sticks are moved
@ -171,6 +171,12 @@ void ModeTurtle::output_to_motors()
{
// throttle needs to be raised
if (is_zero(channel_throttle->norm_input_dz())) {
const uint32_t now = AP_HAL::millis();
if (now - last_throttle_warning_output_ms > 5000) {
gcs().send_text(MAV_SEVERITY_WARNING, "Turtle: raise throttle to arm");
last_throttle_warning_output_ms = now;
}
disarm_motors();
return;
}