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Copter: drift uses AP_Motors set_desired_spool_state

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This commit is contained in:
Randy Mackay 2016-02-02 21:18:47 +09:00
parent 83ae78b38e
commit f91874afad
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/control_drift.cpp
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@ -50,7 +50,7 @@ void Copter::drift_run()
// if landed and throttle at zero, set throttle to zero and exit immediately
if (!motors.armed() || !motors.get_interlock() || (ap.land_complete && ap.throttle_zero)) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
}
@ -95,7 +95,7 @@ void Copter::drift_run()
}
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());