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Copter: land detector sets att vs thr priority in att controllers

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This commit is contained in:
Leonard Hall 2016-03-22 22:49:17 +10:30 committed by Randy Mackay
parent dcbb071c07
commit e08e112c6d
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/land_detector.cpp
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@ -57,7 +57,7 @@ void Copter::update_land_detector()
bool motor_at_lower_limit = motors.limit.throttle_lower;
#else
// check that the average throttle output is near minimum (less than 12.5% hover throttle)
bool motor_at_lower_limit = motors.limit.throttle_lower && motors.is_throttle_mix_min();
bool motor_at_lower_limit = motors.limit.throttle_lower && attitude_control.is_throttle_mix_min();
#endif
// check that the airframe is not accelerating (not falling or breaking after fast forward flight)
@ -125,16 +125,16 @@ void Copter::update_throttle_thr_mix()
#if FRAME_CONFIG != HELI_FRAME
// if disarmed or landed prioritise throttle
if(!motors.armed() || ap.land_complete) {
motors.set_throttle_mix_min();
attitude_control.set_throttle_mix_min();
return;
}
if (mode_has_manual_throttle(control_mode)) {
// manual throttle
if(channel_throttle->get_control_in() <= 0) {
motors.set_throttle_mix_min();
attitude_control.set_throttle_mix_min();
} else {
motors.set_throttle_mix_mid();
attitude_control.set_throttle_mix_mid();
}
} else {
// autopilot controlled throttle
@ -156,9 +156,9 @@ void Copter::update_throttle_thr_mix()
bool descent_not_demanded = pos_control.get_desired_velocity().z >= 0.0f;
if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) {
motors.set_throttle_mix_max();
attitude_control.set_throttle_mix_max();
} else {
motors.set_throttle_mix_min();
attitude_control.set_throttle_mix_min();
}
}
#endif