Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: tidy zero_throttle_and_relax (NFC)

Browse Source
This commit is contained in:
Peter Barker 2017-12-22 10:15:14 +11:00 committed by Francisco Ferreira
parent 71ad1b5815
commit d1201e4776
1 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/mode.cpp
View File

@ -264,13 +264,13 @@ bool Copter::Mode::takeoff_triggered(const float target_climb_rate) const
void Copter::Mode::zero_throttle_and_relax_ac() void Copter::Mode::zero_throttle_and_relax_ac()
{ {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw #if FRAME_CONFIG == HELI_FRAME
// call attitude controller // Helicopters always stabilize roll/pitch/yaw
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain()); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f, get_smoothing_gain());
attitude_control->set_throttle_out(0,false,g.throttle_filt); attitude_control->set_throttle_out(0.0f, false, g.throttle_filt);
#else #else
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed // multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control->set_throttle_out_unstabilized(0.0f, true, g.throttle_filt);
#endif #endif
} }