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AP_MotorsHeli: remove output_armed_not_stabilizing

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Leonard Hall 2016-01-18 14:06:54 +09:00 committed by Randy Mackay
parent 5cd4b78918
commit f02e8f8e01
2 changed files with 1 additions and 17 deletions
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17
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -207,10 +207,8 @@ void AP_MotorsHeli::output()
calculate_armed_scalars();
if (!_flags.interlock) {
output_armed_zero_throttle();
} else if (_flags.stabilizing) {
output_armed_stabilizing();
} else {
output_armed_not_stabilizing();
output_armed_stabilizing();
}
} else {
output_disarmed();
@ -230,19 +228,6 @@ void AP_MotorsHeli::output_armed_stabilizing()
update_motor_control(ROTOR_CONTROL_ACTIVE);
}
void AP_MotorsHeli::output_armed_not_stabilizing()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_mode != SERVO_CONTROL_MODE_AUTOMATED) {
reset_flight_controls();
}
// helicopters always run stabilizing flight controls
move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
update_motor_control(ROTOR_CONTROL_ACTIVE);
}
// output_armed_zero_throttle - sends commands to the motors
void AP_MotorsHeli::output_armed_zero_throttle()
{

1
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -178,7 +178,6 @@ protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_not_stabilizing();
void output_armed_zero_throttle();
void output_disarmed();