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vtol_att_control: move handling of motor state and idle speed selection

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to VtolType class

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent 744f806214
commit 79ff1436b8
4 changed files with 16 additions and 39 deletions
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src/modules/vtol_att_control/standard.cpp
-10
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@@ -314,11 +314,6 @@ void Standard::update_mc_state()
{
VtolType::update_mc_state();
// enable MC motors here in case we transitioned directly to MC mode
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
}
// if the thrust scale param is zero or the drone is on manual mode,
// then the pusher-for-pitch strategy is disabled and we can return
if (_params_standard.forward_thrust_scale < FLT_EPSILON ||
@@ -394,11 +389,6 @@ void Standard::update_mc_state()
void Standard::update_fw_state()
{
VtolType::update_fw_state();
// stop MC motors in FW mode
if (_motor_state != DISABLED) {
_motor_state = VtolType::set_motor_state(_motor_state, DISABLED);
}
}
/**