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Copter: set update rate to 50hz during esc calibration

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Also modified some comments in the code re the esc calibration
This commit is contained in:
Randy Mackay 2013-01-25 11:34:48 +09:00 committed by rmackay9
parent fd14cf81f6
commit eca6ca2100
2 changed files with 4 additions and 2 deletions
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4
ArduCopter/radio.pde
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@ -86,7 +86,7 @@ static void init_rc_out()
if(g.esc_calibrate == 0) { if(g.esc_calibrate == 0) {
// we will enter esc_calibrate mode on next reboot // we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(1); g.esc_calibrate.set_and_save(1);
// send miinimum throttle out to ESC // send minimum throttle out to ESC
motors.output_min(); motors.output_min();
// display message on console // display message on console
cliSerial->printf_P(PSTR("Entering ESC Calibration: please restart APM.\n")); cliSerial->printf_P(PSTR("Entering ESC Calibration: please restart APM.\n"));
@ -99,7 +99,7 @@ static void init_rc_out()
cliSerial->printf_P(PSTR("ESC Calibration active: passing throttle through to ESCs.\n")); cliSerial->printf_P(PSTR("ESC Calibration active: passing throttle through to ESCs.\n"));
// clear esc flag // clear esc flag
g.esc_calibrate.set_and_save(0); g.esc_calibrate.set_and_save(0);
// block until we restart // pass through user throttle to escs
init_esc(); init_esc();
} }
}else{ }else{

2
ArduCopter/setup.pde
View File

@ -1095,6 +1095,8 @@ static void print_enabled(bool b)
static void static void
init_esc() init_esc()
{ {
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
motors.enable(); motors.enable();
motors.armed(true); motors.armed(true);
while(1) { while(1) {