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Plane: auto set trim on quad motor channels

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this prevents a reboot causing a motor start
This commit is contained in:
Andrew Tridgell 2016-01-02 13:29:05 +11:00
parent ef151944b8
commit ecd7d53cfc
1 changed files with 17 additions and 0 deletions
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17
ArduPlane/quadplane.cpp
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@ -345,6 +345,23 @@ void QuadPlane::setup(void)
pid_accel_z.set_dt(plane.ins.get_loop_delta_t());
pos_control->set_dt(plane.ins.get_loop_delta_t());
// setup the trim of any motors used by AP_Motors so px4io
// failsafe will disable motors
uint16_t mask = motors->get_motor_mask();
for (uint8_t i=0; i<16; i++) {
if (mask & 1U<<i) {
RC_Channel *ch = RC_Channel::rc_channel(i);
if (ch != nullptr) {
ch->radio_trim = thr_min_pwm;
}
}
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// redo failsafe mixing on px4
plane.setup_failsafe_mixing();
#endif
transition_state = TRANSITION_DONE;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane initialised");