aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: Remove Armed check from heli RSC controls

Browse Source
This commit is contained in:
Robert Lefebvre 2015-08-12 18:57:33 -04:00 committed by Randy Mackay
parent 535da1d79a
commit c51b57e71c
1 changed files with 33 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduCopter/heli.cpp
View File

@ -141,7 +141,7 @@ void Copter::heli_update_rotor_speed_targets()
rsc_control_deglitched = rotor_speed_deglitch_filter.apply(g.rc_8.control_in);
if (motors.armed()) {
switch (rsc_control_mode) {
case AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH:
// pass through pilot desired rotor speed if control input is higher than 10, creating a deadband at the bottom
@ -175,11 +175,6 @@ void Copter::heli_update_rotor_speed_targets()
}
break;
}
} else {
// if disarmed, force desired_rotor_speed to Zero
motors.set_interlock(false);
motors.set_desired_rotor_speed(0);
}
// when rotor_runup_complete changes to true, log event
if (!rotor_runup_complete_last && motors.rotor_runup_complete()){