mirror of https://github.com/ArduPilot/ardupilot
Copter: esc cal startup check moved outside rc output init
this ensures we don't accidentally enter esc calibration during motor test
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@ -44,7 +44,7 @@ void Copter::init_rc_in()
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ap.throttle_zero = true;
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ap.throttle_zero = true;
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}
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}
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// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
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// init_rc_out -- initialise motors
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void Copter::init_rc_out()
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void Copter::init_rc_out()
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{
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{
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motors->set_loop_rate(scheduler.get_loop_rate_hz());
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motors->set_loop_rate(scheduler.get_loop_rate_hz());
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@ -74,9 +74,6 @@ void Copter::init_rc_out()
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uint16_t safety_ignore_mask = (~copter.motors->get_motor_mask()) & 0x3FFF;
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uint16_t safety_ignore_mask = (~copter.motors->get_motor_mask()) & 0x3FFF;
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BoardConfig.set_default_safety_ignore_mask(safety_ignore_mask);
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BoardConfig.set_default_safety_ignore_mask(safety_ignore_mask);
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#endif
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#endif
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// check if we should enter esc calibration mode
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esc_calibration_startup_check();
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}
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}
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@ -117,6 +117,9 @@ void Copter::init_ardupilot()
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// sets up motors and output to escs
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// sets up motors and output to escs
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init_rc_out();
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init_rc_out();
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// check if we should enter esc calibration mode
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esc_calibration_startup_check();
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// motors initialised so parameters can be sent
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// motors initialised so parameters can be sent
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ap.initialised_params = true;
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ap.initialised_params = true;
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