From 3dca9b45345fe492a41c0500a42cbeab507b0d44 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Sun, 29 Aug 2021 13:18:35 +0100 Subject: [PATCH] AR_Motors: stop setting safety limit --- libraries/AR_Motors/AP_MotorsUGV.cpp | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp index f665c532e5..1a6f3ab7f5 100644 --- a/libraries/AR_Motors/AP_MotorsUGV.cpp +++ b/libraries/AR_Motors/AP_MotorsUGV.cpp @@ -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);