From 2650b1fe936a8a675e125446e918fc7f514be3f0 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 28 Dec 2018 20:12:43 +0900 Subject: [PATCH] Plane: desired-ground-idle replaces spin-when-armed --- ArduPlane/quadplane.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index e0f7c90a94..9e91bce741 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -739,7 +739,7 @@ void QuadPlane::hold_stabilize(float throttle_in) multicopter_attitude_rate_update(get_desired_yaw_rate_cds()); if (throttle_in <= 0) { - motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); + motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE); if (is_tailsitter()) { // always stabilize with tailsitters so we can do belly takeoffs attitude_control->set_throttle_out(0, true, 0); @@ -867,7 +867,7 @@ void QuadPlane::hold_hover(float target_climb_rate) void QuadPlane::control_hover(void) { if (throttle_wait) { - motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); + motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE); attitude_control->set_throttle_out_unstabilized(0, true, 0); pos_control->relax_alt_hold_controllers(0); } else { @@ -986,7 +986,7 @@ float QuadPlane::landing_descent_rate_cms(float height_above_ground) const void QuadPlane::control_loiter() { if (throttle_wait) { - motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); + motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE); attitude_control->set_throttle_out_unstabilized(0, true, 0); pos_control->relax_alt_hold_controllers(0); loiter_nav->clear_pilot_desired_acceleration(); @@ -1605,7 +1605,7 @@ void QuadPlane::check_throttle_suppression(void) } // motors should be in the spin when armed state to warn user they could become active - motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); + motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE); motors->set_throttle(0); last_motors_active_ms = 0; }