Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-18 13:55:16 +03:00
Code Issues Wiki Activity

Drop min_throttle in favor of throttle IDLE percent

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-12-22 21:33:19 +01:00
parent 419d4e48e0
commit 4fd2149e2b
20 changed files with 63 additions and 61 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/navigation/navigation_fixedwing.c
View file

@ -484,7 +484,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
isAutoThrottleManuallyIncreased = false;
}
rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle);
rcCommand[THROTTLE] = constrain(correctedThrottleValue, getThrottleIdleValue(), motorConfig()->maxthrottle);
}
#ifdef NAV_FIXED_WING_LANDING
@ -497,7 +497,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
((posControl.flags.estAglStatus == EST_TRUSTED) && (posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) ) {
// Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
rcCommand[THROTTLE] = motorConfig()->minthrottle;
rcCommand[THROTTLE] = getThrottleIdleValue();
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
// Stabilize ROLL axis on 0 degrees banking regardless of loiter radius and position