mirror of https://github.com/ArduPilot/ardupilot
Copter: stabilize uses AP_Motors set_desired_spool_state
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@ -29,7 +29,7 @@ void Copter::stabilize_run()
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// if not armed set throttle to zero and exit immediately
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// if not armed set throttle to zero and exit immediately
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if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
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if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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// slow start if landed
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// slow start if landed
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if (ap.land_complete) {
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if (ap.land_complete) {
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@ -38,7 +38,7 @@ void Copter::stabilize_run()
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return;
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return;
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}
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}
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motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// apply SIMPLE mode transform to pilot inputs
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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update_simple_mode();
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