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AP_Motors: Fix safe disarm

This commit is contained in:
Michael du Breuil 2019-09-10 14:43:11 -07:00 committed by Andrew Tridgell
parent 0719626d2b
commit f4a1410434
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -395,8 +395,7 @@ int16_t AP_MotorsMulticopter::output_to_pwm(float actuator)
float pwm_output; float pwm_output;
if (_spool_state == SpoolState::SHUT_DOWN) { if (_spool_state == SpoolState::SHUT_DOWN) {
// in shutdown mode, use PWM 0 or minimum PWM // in shutdown mode, use PWM 0 or minimum PWM
if (_disarm_disable_pwm && is_equal(_disarm_safe_timer, 0.0f) && !armed()) { if (_disarm_disable_pwm && !armed()) {
// if (_disarm_disable_pwm && !armed()) {
pwm_output = 0; pwm_output = 0;
} else { } else {
pwm_output = get_pwm_output_min(); pwm_output = get_pwm_output_min();
@ -511,8 +510,8 @@ void AP_MotorsMulticopter::output_logic()
} else { } else {
_disarm_safe_timer = _safe_time; _disarm_safe_timer = _safe_time;
} }
} else if (_disarm_safe_timer > 0.0f) { } else {
_disarm_safe_timer -= 1.0f/_loop_rate;; _disarm_safe_timer = 0.0f;
} }
// force desired and current spool mode if disarmed or not interlocked // force desired and current spool mode if disarmed or not interlocked