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Copter: enable motor slow start in auto mode

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Randy Mackay 2013-09-13 14:31:55 +09:00
parent cc6acac1dd
commit daa0cb7914
1 changed files with 5 additions and 0 deletions
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ArduCopter/ArduCopter.pde
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@ -2051,6 +2051,11 @@ void update_throttle_mode(void)
case THROTTLE_AUTO:
// auto pilot altitude controller with target altitude held in wp_nav.get_desired_alt()
if(ap.auto_armed) {
// special handling if we are just taking off
if (ap.land_complete) {
// tell motors to do a slow start.
motors.slow_start(true);
}
get_throttle_althold_with_slew(wp_nav.get_desired_alt(), -wp_nav.get_descent_velocity(), wp_nav.get_climb_velocity());
set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint
}else{