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Plane: prevent loss of control when Q_ENABLE is set while flying

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Also rename check_throttle_suppression
This commit is contained in:
Michael du Breuil 2019-02-20 17:01:32 -07:00 committed by WickedShell
parent b202270d1a
commit c15983c690
2 changed files with 6 additions and 6 deletions
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10
ArduPlane/quadplane.cpp
View File

@ -1565,7 +1565,7 @@ void QuadPlane::update(void)
This is a safety check to prevent accidental motor runs on the
ground, such as if RC fails and QRTL is started
*/
void QuadPlane::check_throttle_suppression(void)
void QuadPlane::update_throttle_suppression(void)
{
// if the motors have been running in the last 2 seconds then
// allow them to run now
@ -1614,7 +1614,7 @@ void QuadPlane::check_throttle_suppression(void)
// called at 100hz
void QuadPlane::update_throttle_hover()
{
if (!enable) {
if (!available()) {
return;
}
@ -1667,7 +1667,7 @@ void QuadPlane::motors_output(bool run_rate_controller)
}
// see if motors should be shut down
check_throttle_suppression();
update_throttle_suppression();
motors->output();
if (motors->armed() && motors->get_spool_mode() != AP_Motors::spool_up_down_mode::SHUT_DOWN) {
@ -1810,7 +1810,7 @@ bool QuadPlane::handle_do_vtol_transition(enum MAV_VTOL_STATE state)
*/
bool QuadPlane::in_vtol_auto(void) const
{
if (!enable) {
if (!available()) {
return false;
}
if (plane.control_mode != AUTO) {
@ -1843,7 +1843,7 @@ bool QuadPlane::in_vtol_auto(void) const
*/
bool QuadPlane::in_vtol_mode(void) const
{
if (!enable) {
if (!available()) {
return false;
}
return (plane.control_mode == QSTABILIZE ||

2
ArduPlane/quadplane.h
View File

@ -223,7 +223,7 @@ private:
void guided_start(void);
void guided_update(void);
void check_throttle_suppression(void);
void update_throttle_suppression(void);
void run_z_controller(void);