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Plane: quadpalne: keep motors interlock state upto date with E-stop

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Iampete1 2022-01-27 15:49:43 +00:00 committed by Randy Mackay
parent 5181003228
commit 1ca1707f9f
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/quadplane.cpp
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@ -697,7 +697,6 @@ bool QuadPlane::setup(void)
motors->init(frame_class, frame_type);
motors->update_throttle_range();
motors->set_update_rate(rc_speed);
motors->set_interlock(true);
attitude_control->parameter_sanity_check();
// setup the trim of any motors used by AP_Motors so I/O board
@ -1664,6 +1663,9 @@ void QuadPlane::update(void)
return;
}
// keep motors interlock state upto date with E-stop
motors->set_interlock(!SRV_Channels::get_emergency_stop());
if ((ahrs_view != NULL) && !is_equal(_last_ahrs_trim_pitch, ahrs_trim_pitch.get())) {
_last_ahrs_trim_pitch = ahrs_trim_pitch.get();
ahrs_view->set_pitch_trim(_last_ahrs_trim_pitch);