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Plane: fixed ARMING_REQUIRE=2 for dual-motor planes 

many thanks to Marco for finding this bug!
master
Andrew Tridgell 7 years ago
parent
d49d5cbb85
commit
07187f7797
1 changed files with 20 additions and 3 deletions
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  1. 23
      ArduPlane/servos.cpp

23
ArduPlane/servos.cpp
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@ -352,8 +352,12 @@ void Plane::set_servos_controlled(void)
if (!hal.util->get_soft_armed()) { if (!hal.util->get_soft_armed()) {
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) { if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
} else { } else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
} }
} else if (suppress_throttle()) { } else if (suppress_throttle()) {
// throttle is suppressed in auto mode // throttle is suppressed in auto mode
@ -502,9 +506,18 @@ void Plane::servos_twin_engine_mix(void)
throttle_left = constrain_float(throttle + 50 * rudder, 0, 100); throttle_left = constrain_float(throttle + 50 * rudder, 0, 100);
throttle_right = constrain_float(throttle - 50 * rudder, 0, 100); throttle_right = constrain_float(throttle - 50 * rudder, 0, 100);
} }
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left); if (!hal.util->get_soft_armed()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right); if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
}
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right);
}
} }
@ -599,11 +612,15 @@ void Plane::set_servos(void)
case AP_Arming::YES_ZERO_PWM: case AP_Arming::YES_ZERO_PWM:
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, 0); SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, 0);
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, 0);
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, 0);
break; break;
case AP_Arming::YES_MIN_PWM: case AP_Arming::YES_MIN_PWM:
default: default:
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
break; break;
} }
} }

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