From 9849ff4a9cf6d6d98926c60f46c789ac03034c6a Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 22 Dec 2020 13:46:22 +0100 Subject: [PATCH] Standard VTOL: set idle PWM during backtransition Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/standard.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index ab1d8add80..a51a2dee08 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -309,6 +309,11 @@ void Standard::update_transition_state() if (_motor_state != motor_state::ENABLED) { _motor_state = set_motor_state(_motor_state, motor_state::ENABLED); } + + // set idle speed for MC actuators + if (!_flag_idle_mc) { + _flag_idle_mc = set_idle_mc(); + } } mc_weight = math::constrain(mc_weight, 0.0f, 1.0f);