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Copter: circle sets desired spool state

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This commit is contained in:
Leonard Hall 2016-01-13 16:10:00 +09:00 committed by Randy Mackay
parent cce426dcb8
commit f71157c508
1 changed files with 7 additions and 2 deletions
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9
ArduCopter/control_circle.cpp
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@ -42,13 +42,15 @@ void Copter::circle_run()
pos_control.set_accel_z(g.pilot_accel_z);
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
// To-Do: add some initialisation of position controllers
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
#else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
pos_control.set_alt_target_to_current_alt();
@ -75,6 +77,9 @@ void Copter::circle_run()
}
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// run circle controller
circle_nav.update();