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Sub: Enabled control modes to operate at zero throttle

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This commit is contained in:
Rustom Jehangir 2016-01-18 22:08:55 -08:00 committed by Andrew Tridgell
parent fc6f793aab
commit c6b3f46e04
4 changed files with 4 additions and 4 deletions
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2
ArduSub/control_acro.cpp
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@ -27,7 +27,7 @@ void Sub::acro_run()
int16_t pilot_throttle_scaled; int16_t pilot_throttle_scaled;
// if motors not running reset angle targets // if motors not running reset angle targets
if(!motors.armed() || ap.throttle_zero) { if(!motors.armed()) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
// slow start if landed // slow start if landed
if (ap.land_complete) { if (ap.land_complete) {

2
ArduSub/control_rov.cpp
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@ -28,7 +28,7 @@ void Sub::rov_run()
int16_t pilot_throttle_scaled; int16_t pilot_throttle_scaled;
// if not armed or throttle at zero, set throttle to zero and exit immediately // if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || ap.throttle_zero) { if(!motors.armed()) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
// slow start if landed // slow start if landed
if (ap.land_complete) { if (ap.land_complete) {

2
ArduSub/control_sport.cpp
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@ -33,7 +33,7 @@ void Sub::sport_run()
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_accel_z(g.pilot_accel_z);
// if not armed or throttle at zero, set throttle to zero and exit immediately // if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || ap.throttle_zero) { if(!motors.armed()) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average); pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
return; return;

2
ArduSub/control_stabilize.cpp
View File

@ -28,7 +28,7 @@ void Sub::stabilize_run()
int16_t pilot_throttle_scaled; int16_t pilot_throttle_scaled;
// if not armed or throttle at zero, set throttle to zero and exit immediately // if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || ap.throttle_zero) { if(!motors.armed()) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
// slow start if landed // slow start if landed
if (ap.land_complete) { if (ap.land_complete) {