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Copter: use new motors thrust linrisation, don't send air density ratio

This commit is contained in:
Iampete1 2023-01-31 01:54:34 +00:00 committed by Andrew Tridgell
parent ab4777de14
commit be275e2cac
2 changed files with 1 additions and 3 deletions
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2
ArduCopter/mode_turtle.cpp
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@ -163,7 +163,7 @@ void ModeTurtle::run()
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
motors_output = !is_zero(flip_power) ? motors->thrust_to_actuator(flip_power) : 0.0f;
motors_output = !is_zero(flip_power) ? motors->thr_lin.thrust_to_actuator(flip_power) : 0.0f;
}
// actually write values to the motors

2
ArduCopter/sensors.cpp
View File

@ -6,8 +6,6 @@ void Copter::read_barometer(void)
barometer.update();
baro_alt = barometer.get_altitude() * 100.0f;
motors->set_air_density_ratio(barometer.get_air_density_ratio());
}
void Copter::init_rangefinder(void)