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Coptre: disable esc calibration for TradHeli

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This commit is contained in:
Randy Mackay 2015-07-15 15:16:11 +09:00
parent 1af383253f
commit 0f174053d6
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/esc_calibration.cpp
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@ -20,6 +20,7 @@ enum ESCCalibrationModes {
// check if we should enter esc calibration mode
void Copter::esc_calibration_startup_check()
{
#if FRAME_CONFIG != HELI_FRAME
// exit immediately if pre-arm rc checks fail
pre_arm_rc_checks();
if (!ap.pre_arm_rc_check) {
@ -70,11 +71,13 @@ void Copter::esc_calibration_startup_check()
if (g.esc_calibrate != ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
#endif // FRAME_CONFIG != HELI_FRAME
}
// esc_calibration_passthrough - pass through pilot throttle to escs
void Copter::esc_calibration_passthrough()
{
#if FRAME_CONFIG != HELI_FRAME
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
@ -99,11 +102,13 @@ void Copter::esc_calibration_passthrough()
// pass through to motors
motors.throttle_pass_through(channel_throttle->radio_in);
}
#endif // FRAME_CONFIG != HELI_FRAME
}
// esc_calibration_auto - calibrate the ESCs automatically using a timer and no pilot input
void Copter::esc_calibration_auto()
{
#if FRAME_CONFIG != HELI_FRAME
bool printed_msg = false;
// reduce update rate to motors to 50Hz
@ -143,4 +148,5 @@ void Copter::esc_calibration_auto()
// block until we restart
while(1) { delay(5); }
#endif // FRAME_CONFIG != HELI_FRAME
}