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disable spinup tilt sequence if spinup tilt parameter is set to 0

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-04-08 21:12:53 -04:00
committed by Daniel Agar
parent 7e4a53f292
commit 4e3f65e376
1 changed files with 1 additions and 1 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+1 -1
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@@ -226,7 +226,7 @@ void Tiltrotor::update_mc_state()
// reset this timestamp while disarmed // reset this timestamp while disarmed
if (!_v_control_mode->flag_armed) { if (!_v_control_mode->flag_armed) {
_last_timestamp_disarmed = hrt_absolute_time(); _last_timestamp_disarmed = hrt_absolute_time();
_tilt_motors_for_startup = true; _tilt_motors_for_startup = _params_tiltrotor.tilt_spinup > 0.01f; // spinup phase only required if spinup tilt > 0
} else if (_tilt_motors_for_startup) { } else if (_tilt_motors_for_startup) {
// leave motors tilted forward after arming to allow them to spin up easier // leave motors tilted forward after arming to allow them to spin up easier