zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

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
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 19
      ArduPlane/servos.cpp

19
ArduPlane/servos.cpp
Unescape View File

@ -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);
} }
if (!hal.util->get_soft_armed()) {
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_throttleLeft, throttle_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right); 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;
} }
} }

Write Preview
Loading…
Cancel
Save