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Copter: add cork-push to esc calibration

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Also remove unnecessary duplicate call to motors::set_throttle_passthrough_for_esc_calibration
This commit is contained in:
Randy Mackay 2018-06-13 11:13:55 +09:00
parent 41767e0458
commit 2af8e673cc
1 changed files with 4 additions and 3 deletions
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7
ArduCopter/esc_calibration.cpp
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@ -184,17 +184,18 @@ void Copter::esc_calibration_auto()
// delay for 5 seconds while outputting pulses // delay for 5 seconds while outputting pulses
uint32_t tstart = millis(); uint32_t tstart = millis();
while (millis() - tstart < 5000) { while (millis() - tstart < 5000) {
SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(1.0f); motors->set_throttle_passthrough_for_esc_calibration(1.0f);
SRV_Channels::push();
esc_calibration_notify(); esc_calibration_notify();
delay(3); delay(3);
} }
// reduce throttle to minimum
motors->set_throttle_passthrough_for_esc_calibration(0.0f);
// block until we restart // block until we restart
while(1) { while(1) {
SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(0.0f); motors->set_throttle_passthrough_for_esc_calibration(0.0f);
SRV_Channels::push();
esc_calibration_notify(); esc_calibration_notify();
delay(3); delay(3);
} }