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Plane: consistantly slew all three throttles

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Peter Hall 2021-04-07 15:40:50 +01:00 committed by Andrew Tridgell
parent 47ab0360e7
commit d3dca4c17d
1 changed files with 7 additions and 7 deletions
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14
ArduPlane/servos.cpp
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@ -24,6 +24,11 @@
*****************************************/ *****************************************/
void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func) void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
{ {
if (!(control_mode->does_auto_throttle() || quadplane.in_assisted_flight() || quadplane.in_vtol_mode())) {
// only do throttle slew limiting in modes where throttle control is automatic
return;
}
uint8_t slewrate = aparm.throttle_slewrate; uint8_t slewrate = aparm.throttle_slewrate;
if (control_mode == &mode_auto) { if (control_mode == &mode_auto) {
if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) { if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) {
@ -836,13 +841,8 @@ void Plane::set_servos(void)
// set airbrake outputs // set airbrake outputs
airbrake_update(); airbrake_update();
if (control_mode->does_auto_throttle() || // slew rate limit throttle
quadplane.in_assisted_flight() || throttle_slew_limit(SRV_Channel::k_throttle);
quadplane.in_vtol_mode()) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
throttle_slew_limit(SRV_Channel::k_throttle);
}
if (!arming.is_armed()) { if (!arming.is_armed()) {
//Some ESCs get noisy (beep error msgs) if PWM == 0. //Some ESCs get noisy (beep error msgs) if PWM == 0.