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plane: restore thr_min behavior #11059

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merged 1 commit into from Apr 22, 2019
Merged

plane: restore thr_min behavior #11059

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2 changes: 1 addition & 1 deletion ArduPlane/Parameters.cpp
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Expand Up @@ -401,7 +401,7 @@ const AP_Param::Info Plane::var_info[] = {

// @Param: THR_MIN
// @DisplayName: Minimum Throttle
// @Description: Minimum throttle percentage used in automatic throttle modes. Negative values allow reverse thrust if hardware supports it.
// @Description: Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.
// @Units: %
// @Range: -100 100
// @Increment: 1
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12 changes: 7 additions & 5 deletions ArduPlane/servos.cpp
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Expand Up @@ -442,9 +442,10 @@ void Plane::set_servos_controlled(void)
} else if (g.throttle_passthru_stabilize) {
// manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
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} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
constrain_int16(get_throttle_input(true), min_throttle, max_throttle));
}
} else if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) &&
guided_throttle_passthru) {
Expand Down Expand Up @@ -749,9 +750,10 @@ void Plane::set_servos(void)

case AP_Arming::Required::YES_MIN_PWM:
default:
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
int8_t min_throttle = MAX(aparm.throttle_min.get(),0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, min_throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, min_throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, min_throttle);
break;
}
}
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