VTOL: always set min PWM, not only once on entering a new VTOL phase

Upon a parameter change, pwm_out resets the minimum PWM. VTOL needs to change
the min PWM to the actual set idle PWM.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/vtol_att_control/standard.cpp

@@ -314,11 +314,6 @@ void Standard::update_transition_state()
 		}
 
 		set_all_motor_state(motor_state::ENABLED);
-
-		// set idle speed for MC actuators
-		if (!_flag_idle_mc) {
-			_flag_idle_mc = set_idle_mc();
-		}
 	}
 
 	mc_weight = math::constrain(mc_weight, 0.0f, 1.0f);

src/modules/vtol_att_control/tailsitter.cpp

@@ -244,10 +244,6 @@ void Tailsitter::update_transition_state()
 
 		const float trans_pitch_rate = M_PI_2_F / _params->back_trans_duration;
 
-		if (!_flag_idle_mc) {
-			_flag_idle_mc = set_idle_mc();
-		}
-
 		if (tilt > 0.01f) {
 			_q_trans_sp = Quatf(AxisAnglef(_trans_rot_axis,
 						       time_since_trans_start * trans_pitch_rate)) * _q_trans_start;

src/modules/vtol_att_control/tiltrotor.cpp

@@ -366,12 +366,6 @@ void Tiltrotor::update_transition_state()
 		// turn on all MC motors
 		set_all_motor_state(motor_state::ENABLED);
 
-
-		// set idle speed for rotary wing mode
-		if (!_flag_idle_mc) {
-			_flag_idle_mc = set_idle_mc();
-		}
-
 		// tilt rotors back
 		if (_tilt_control > _params_tiltrotor.tilt_mc) {
 			_tilt_control = _params_tiltrotor.tilt_fw -

src/modules/vtol_att_control/vtol_type.cpp

@@ -136,9 +136,7 @@ bool VtolType::init()
 
 void VtolType::update_mc_state()
 {
-	if (!_flag_idle_mc) {
-		_flag_idle_mc = set_idle_mc();
-	}
+	set_idle_mc();
 
 	resetAccelToPitchPitchIntegrator();
 
@@ -155,9 +153,7 @@ void VtolType::update_mc_state()
 
 void VtolType::update_fw_state()
 {
-	if (_flag_idle_mc) {
-		_flag_idle_mc = !set_idle_fw();
-	}
+	set_idle_fw();
 
 	resetAccelToPitchPitchIntegrator();
 

src/modules/vtol_att_control/vtol_type.h

@@ -218,8 +218,6 @@ protected:
 
 	struct Params 					*_params;
 
-	bool _flag_idle_mc = false;		//false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
-
 	bool _pusher_active = false;
 	float _mc_roll_weight = 1.0f;	// weight for multicopter attitude controller roll output
 	float _mc_pitch_weight = 1.0f;	// weight for multicopter attitude controller pitch output