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Rover: set correct safety limit

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This commit is contained in:
Pierre Kancir 2017-06-20 11:59:28 +02:00 committed by Randy Mackay
parent 32dc59baec
commit 7595ffb8ba
1 changed files with 4 additions and 4 deletions
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8
APMrover2/radio.cpp
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@ -22,9 +22,9 @@ void Rover::set_control_channels(void)
// For a rover safety is TRIM throttle
if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
hal.rcout->set_safety_pwm(1UL << (rcmap.throttle() - 1), channel_throttle->get_radio_trim());
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
if (g.skid_steer_out) {
hal.rcout->set_safety_pwm(1UL << (rcmap.roll() - 1), channel_steer->get_radio_trim());
SRV_Channels::set_safety_limit(SRV_Channel::k_steering, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
}
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
@ -56,9 +56,9 @@ void Rover::init_rc_out()
// For Rover's no throttle means TRIM as rovers can go backwards i.e. MIN throttle is
// full speed backward.
if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
hal.rcout->set_safety_pwm(1UL << (rcmap.throttle() - 1), channel_throttle->get_radio_trim());
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
if (g.skid_steer_out) {
hal.rcout->set_safety_pwm(1UL << (rcmap.roll() - 1), channel_steer->get_radio_trim());
SRV_Channels::set_safety_limit(SRV_Channel::k_steering, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
}
}