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AP_ICEngine: don't run engine with safety engaged

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This commit is contained in:
Bob Long 2024-09-23 16:47:40 +10:00 committed by Peter Barker
parent 1830dd6d75
commit 8d9ac6451f
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -444,7 +444,7 @@ void AP_ICEngine::update(void)
// reset initial height while disarmed
initial_height = -pos.z;
}
} else if (idle_percent <= 0 && !option_set(Options::THROTTLE_WHILE_DISARMED)) {
} else if (idle_percent <= 0 && !allow_throttle_while_disarmed()) {
// force ignition off when disarmed
state = ICE_OFF;
}
@ -526,7 +526,7 @@ bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle
idle_percent > percentage)
{
percentage = idle_percent;
if (option_set(Options::THROTTLE_WHILE_DISARMED) && !hal.util->get_soft_armed()) {
if (allow_throttle_while_disarmed() && !hal.util->get_soft_armed()) {
percentage = MAX(percentage, base_throttle);
}
return true;
@ -567,7 +567,7 @@ bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle
#endif // AP_RPM_ENABLED
// if THROTTLE_WHILE_DISARMED is set then we use the base_throttle, allowing the pilot to control throttle while disarmed
if (option_set(Options::THROTTLE_WHILE_DISARMED) && !hal.util->get_soft_armed() &&
if (allow_throttle_while_disarmed() && !hal.util->get_soft_armed() &&
base_throttle > percentage) {
percentage = base_throttle;
return true;