mirror of https://github.com/ArduPilot/ardupilot
Tri: call output_min at end of motors test
Minor change to comments
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@ -69,7 +69,8 @@ void AP_MotorsTri::output_min()
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{
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// set lower limit flag
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limit.throttle_lower = true;
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// fill the motor_out[] array for HIL use
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// set all motors to minimum
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motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min;
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motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min;
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motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min;
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@ -114,7 +115,7 @@ void AP_MotorsTri::output_armed()
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// Every thing is limited
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limit.throttle_lower = true;
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}else{
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int16_t roll_out = (float)_rc_roll->pwm_out * 0.866f;
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int16_t pitch_out = _rc_pitch->pwm_out / 2;
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@ -190,7 +191,7 @@ void AP_MotorsTri::output_disarmed()
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output_min();
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}
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// output_disarmed - sends commands to the motors
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// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
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void AP_MotorsTri::output_test()
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{
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// Send minimum values to all motors
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@ -211,7 +212,6 @@ void AP_MotorsTri::output_test()
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min + _min_throttle);
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hal.scheduler->delay(300);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
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// Send minimum values to all motors
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output_min();
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}
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@ -33,7 +33,7 @@ public:
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// enable - starts allowing signals to be sent to motors
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virtual void enable();
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// motor test
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// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
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virtual void output_test();
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// output_min - sends minimum values out to the motors
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