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Plane: prevent fwd motor when throttle in dead zone for tiltrotor

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otherwise we end up with the SPIN_ARMED value
This commit is contained in:
Andrew Tridgell 2016-07-04 08:46:21 +10:00
parent 54bca768b8
commit 2feaa9926c
1 changed files with 5 additions and 2 deletions
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7
ArduPlane/tiltrotor.cpp
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@ -48,7 +48,9 @@ void QuadPlane::tiltrotor_continuous_update(void)
if (!hal.util->get_soft_armed()) {
tilt.current_throttle = 0;
} else {
motors->output_motor_mask(tilt.current_throttle, (uint8_t)tilt.tilt_mask.get());
// the motors are all the way forward, start using them for fwd thrust
uint8_t mask = is_zero(tilt.current_throttle)?0:(uint8_t)tilt.tilt_mask.get();
motors->output_motor_mask(tilt.current_throttle, mask);
// prevent motor shutdown
tilt.motors_active = true;
}
@ -130,8 +132,9 @@ void QuadPlane::tiltrotor_binary_update(void)
float new_throttle = plane.channel_throttle->get_servo_out()*0.01f;
if (tilt.current_tilt >= 1) {
uint8_t mask = is_zero(new_throttle)?0:(uint8_t)tilt.tilt_mask.get();
// the motors are all the way forward, start using them for fwd thrust
motors->output_motor_mask(new_throttle, (uint8_t)tilt.tilt_mask.get());
motors->output_motor_mask(new_throttle, mask);
}
} else {
tiltrotor_binary_slew(false);