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AP_Motors: tailsiter remove push of plane ouputs

mission-4.1.18
IamPete1 6 years ago committed by Andrew Tridgell
parent
50d95943e3
commit
d075965fce
1 changed files with 0 additions and 9 deletions
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  1. 9
      libraries/AP_Motors/AP_MotorsTailsitter.cpp

9
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -81,16 +81,13 @@ void AP_MotorsTailsitter::output_to_motors() @@ -81,16 +81,13 @@ void AP_MotorsTailsitter::output_to_motors()
if (!_flags.initialised_ok) {
return;
}
float throttle_pwm = 0.0f;
switch (_spool_mode) {
case SHUT_DOWN:
throttle_pwm = get_pwm_output_min();
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, get_pwm_output_min());
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, get_pwm_output_min());
break;
case GROUND_IDLE:
throttle_pwm = output_to_pwm(actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(actuator_spin_up_to_ground_idle()));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(actuator_spin_up_to_ground_idle()));
@ -98,7 +95,6 @@ void AP_MotorsTailsitter::output_to_motors() @@ -98,7 +95,6 @@ void AP_MotorsTailsitter::output_to_motors()
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_DOWN:
throttle_pwm = output_to_pwm(thrust_to_actuator(_throttle));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(thrust_to_actuator(_thrust_left)));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(thrust_to_actuator(_thrust_right)));
break;
@ -108,11 +104,6 @@ void AP_MotorsTailsitter::output_to_motors() @@ -108,11 +104,6 @@ void AP_MotorsTailsitter::output_to_motors()
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, _tilt_left*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, _tilt_right*SERVO_OUTPUT_RANGE);
// plane outputs for Qmodes are setup here, and written to the HAL by the plane servos loop
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, -_yaw_in*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, _pitch_in*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, _roll_in*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, throttle_pwm);
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)

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