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VTOL preserve PWM min and max when enabling/disabling actuators

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This commit is contained in:
Daniel Agar
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent a78ab02144
commit 00f98c64db
8 changed files with 113 additions and 139 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+3 -6
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@@ -214,8 +214,7 @@ void Tailsitter::update_transition_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
if (!flag_idle_mc) {
set_idle_mc();
flag_idle_mc = true;
flag_idle_mc = enable_mc_motors();
}
// create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value
@@ -261,8 +260,7 @@ void Tailsitter::update_mc_state()
// set idle speed for rotary wing mode
if (!flag_idle_mc) {
set_idle_mc();
flag_idle_mc = true;
flag_idle_mc = enable_mc_motors();
}
}
@@ -271,8 +269,7 @@ void Tailsitter::update_fw_state()
VtolType::update_fw_state();
if (flag_idle_mc) {
set_idle_fw();
flag_idle_mc = false;
flag_idle_mc = !disable_mc_motors();
}
}