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Plane: cope with bad values of ARMING_REQUIRE

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This commit is contained in:
Andrew Tridgell 2015-09-14 09:35:53 +10:00
parent 43ac3f86c5
commit 5c055220f5
1 changed files with 10 additions and 8 deletions
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18
ArduPlane/Attitude.cpp
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@ -989,20 +989,22 @@ void Plane::set_servos(void)
channel_output_mixer(g.elevon_output, channel_pitch->radio_out, channel_roll->radio_out); channel_output_mixer(g.elevon_output, channel_pitch->radio_out, channel_roll->radio_out);
} }
//send throttle to 0 or MIN_PWM if not yet armed
if (!arming.is_armed()) { if (!arming.is_armed()) {
//Some ESCs get noisy (beep error msgs) if PWM == 0. //Some ESCs get noisy (beep error msgs) if PWM == 0.
//This little segment aims to avoid this. //This little segment aims to avoid this.
switch (arming.arming_required()) { switch (arming.arming_required()) {
case AP_Arming::YES_MIN_PWM: case AP_Arming::NO:
channel_throttle->radio_out = channel_throttle->radio_min; //keep existing behavior: do nothing to radio_out
//(don't disarm throttle channel even if AP_Arming class is)
break; break;
case AP_Arming::YES_ZERO_PWM:
channel_throttle->radio_out = 0; case AP_Arming::YES_ZERO_PWM:
channel_throttle->radio_out = 0;
break; break;
default:
//keep existing behavior: do nothing to radio_out case AP_Arming::YES_MIN_PWM:
//(don't disarm throttle channel even if AP_Arming class is) default:
channel_throttle->radio_out = channel_throttle->radio_min;
break; break;
} }
} }