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Copter: remove get_takeoff_trigger_throttle 

get_pilot_desired_climbrate can be used instead.
This commit is contained in:
Randy Mackay 2016-08-04 15:04:59 +09:00
parent ac4f36a992
commit c3d71f733c
4 changed files with 2 additions and 8 deletions
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5
ArduCopter/Attitude.cpp
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@ -207,11 +207,6 @@ float Copter::get_non_takeoff_throttle()
return MAX(0,motors.get_throttle_hover()/2.0f);
}
float Copter::get_takeoff_trigger_throttle()
{
return channel_throttle->get_control_mid() + g.takeoff_trigger_dz;
}
// get_surface_tracking_climb_rate - hold copter at the desired distance above the ground
// returns climb rate (in cm/s) which should be passed to the position controller
float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)

1
ArduCopter/Copter.h
View File

@ -650,7 +650,6 @@ private:
float get_pilot_desired_throttle(int16_t throttle_control);
float get_pilot_desired_climb_rate(float throttle_control);
float get_non_takeoff_throttle();
float get_takeoff_trigger_throttle();
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
void auto_takeoff_set_start_alt(void);
void auto_takeoff_attitude_run(float target_yaw_rate);

2
ArduCopter/arming_checks.cpp
View File

@ -719,7 +719,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check throttle is not too high - skips checks if arming from GCS in Guided
if (!(arming_from_gcs && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
// above top of deadband is too always high
if (channel_throttle->get_control_in() > get_takeoff_trigger_throttle()) {
if (get_pilot_desired_climb_rate(channel_throttle->get_control_in()) > 0.0f) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");

2
ArduCopter/control_poshold.cpp
View File

@ -165,7 +165,7 @@ void Copter::poshold_run()
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// check for take-off
if (ap.land_complete && (takeoff_state.running || channel_throttle->get_control_in() > get_takeoff_trigger_throttle())) {
if (ap.land_complete && (takeoff_state.running || target_climb_rate > 0.0f)) {
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}