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Rover: fix failsafe throttle

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This commit is contained in:
Pierre Kancir 2017-07-06 14:50:17 +09:00 committed by Randy Mackay
parent 9b97ad0fc0
commit ba8664193a
1 changed files with 7 additions and 3 deletions
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10
APMrover2/Steering.cpp
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@ -243,10 +243,14 @@ void Rover::calc_nav_steer() {
*****************************************/ *****************************************/
void Rover::set_servos(void) { void Rover::set_servos(void) {
// Apply slew rate limit on non Manual modes // Apply slew rate limit on non Manual modes
if (control_mode != MANUAL && control_mode != LEARNING) { if (control_mode == MANUAL || control_mode == LEARNING) {
g2.motors.slew_limit_throttle(true);
} else {
g2.motors.slew_limit_throttle(false); g2.motors.slew_limit_throttle(false);
if (failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
g2.motors.set_throttle(0.0f);
g2.motors.set_steering(0.0f);
}
} else {
g2.motors.slew_limit_throttle(true);
} }
// send output signals to motors // send output signals to motors