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AR_Motors: stop setting safety limit

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Iampete1 2021-08-29 13:18:35 +01:00 committed by Andrew Tridgell
parent 2abe120969
commit 3dca9b4534
1 changed files with 0 additions and 12 deletions
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12
libraries/AR_Motors/AP_MotorsUGV.cpp
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@ -150,18 +150,6 @@ void AP_MotorsUGV::setup_safety_output()
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight);
}
if (_disarm_disable_pwm) {
// throttle channels output zero pwm (i.e. no signal)
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
} else {
// throttle channels output trim values (because rovers will go backwards if set to MIN)
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
}
// stop sending pwm if main CPU fails
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);