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vtol: refactor of maximum pwm value settings for main and alternate motors

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- main motors are the ones which are meant to be used as propulsion in fw mode
- alternate motors are the ones usually meant to be switched off in fw mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-01-04 15:32:00 +01:00
committed by Silvan Fuhrer
parent bc1e9f72f7
commit 0871f0f52d
5 changed files with 91 additions and 60 deletions
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src/modules/vtol_att_control/standard.cpp
+1 -4
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@@ -305,10 +305,7 @@ void Standard::update_transition_state()
}
// in back transition we need to start the MC motors again
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}
set_all_motor_state(motor_state::ENABLED);
// set idle speed for MC actuators
if (!_flag_idle_mc) {