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AP_Motors: Block Spoolup: stop advance from ground idle

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Iampete1 2022-09-06 15:00:39 +01:00 committed by Peter Hall
parent ee31f2322e
commit f3dc805978
2 changed files with 4 additions and 6 deletions
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5
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -612,7 +612,10 @@ void AP_MotorsMulticopter::output_logic()
// constrain ramp value and update mode // constrain ramp value and update mode
if (_spin_up_ratio >= 1.0f) { if (_spin_up_ratio >= 1.0f) {
_spin_up_ratio = 1.0f; _spin_up_ratio = 1.0f;
_spool_state = SpoolState::SPOOLING_UP; if (!get_spoolup_block()) {
// Only advance from ground idle if spoolup checks have passed
_spool_state = SpoolState::SPOOLING_UP;
}
} }
break; break;

5
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -77,11 +77,6 @@ void AP_Motors::armed(bool arm)
void AP_Motors::set_desired_spool_state(DesiredSpoolState spool) void AP_Motors::set_desired_spool_state(DesiredSpoolState spool)
{ {
// check if spoolup has been blocked
if (_spoolup_block && (spool == DesiredSpoolState::THROTTLE_UNLIMITED)) {
return;
}
if (_armed || (spool == DesiredSpoolState::SHUT_DOWN)) { if (_armed || (spool == DesiredSpoolState::SHUT_DOWN)) {
_spool_desired = spool; _spool_desired = spool;
} }