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plane: restore thr_min behaviour and update description

This commit is contained in:
IamPete1 2019-04-09 01:05:38 +01:00 committed by Andrew Tridgell
parent b22d3a0103
commit fb4b092917
2 changed files with 8 additions and 6 deletions
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2
ArduPlane/Parameters.cpp
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@ -401,7 +401,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: THR_MIN // @Param: THR_MIN
// @DisplayName: Minimum Throttle // @DisplayName: Minimum Throttle
// @Description: Minimum throttle percentage used in automatic throttle modes. Negative values allow reverse thrust if hardware supports it. // @Description: Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.
// @Units: % // @Units: %
// @Range: -100 100 // @Range: -100 100
// @Increment: 1 // @Increment: 1

12
ArduPlane/servos.cpp
View File

@ -442,9 +442,10 @@ void Plane::set_servos_controlled(void)
} else if (g.throttle_passthru_stabilize) { } else if (g.throttle_passthru_stabilize) {
// manual pass through of throttle while in FBWA or // manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set // STABILIZE mode with THR_PASS_STAB set
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz()); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
} else { } else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in()); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
constrain_int16(get_throttle_input(true), min_throttle, max_throttle));
} }
} else if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) && } else if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) &&
guided_throttle_passthru) { guided_throttle_passthru) {
@ -749,9 +750,10 @@ void Plane::set_servos(void)
case AP_Arming::Required::YES_MIN_PWM: case AP_Arming::Required::YES_MIN_PWM:
default: default:
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); int8_t min_throttle = MAX(aparm.throttle_min.get(),0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, min_throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, min_throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, min_throttle);
break; break;
} }
} }