From 965f3827b4ac5fd9786366f95df2f2ee1f121b51 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 2 Feb 2016 21:17:43 +0900 Subject: [PATCH] Copter: poshold uses AP_Motors set_desired_spool_state --- ArduCopter/control_poshold.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/control_poshold.cpp b/ArduCopter/control_poshold.cpp index aa633c5eef..2df951834f 100644 --- a/ArduCopter/control_poshold.cpp +++ b/ArduCopter/control_poshold.cpp @@ -142,7 +142,7 @@ void Copter::poshold_run() // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) { - motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED); + motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); wp_nav.init_loiter_target(); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average); @@ -186,9 +186,9 @@ void Copter::poshold_run() if (ap.land_complete) { // if throttle zero reset attitude and exit immediately if (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); }else{ - motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED); + motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); } wp_nav.init_loiter_target(); // move throttle to between minimum and non-takeoff-throttle to keep us on the ground @@ -397,7 +397,7 @@ void Copter::poshold_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); // // Shared roll & pitch states (POSHOLD_BRAKE_TO_LOITER and POSHOLD_LOITER)