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AP_Motors: Heli: remove output_armed_zero_throttle and use identical output_armed_stabilizing #26343

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merged 1 commit into from Mar 5, 2024
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AP_Motors: Heli: remove output_armed_zero_throttle and use identical output_armed_stabilizing #26343

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17 changes: 1 addition & 16 deletions libraries/AP_Motors/AP_MotorsHeli.cpp
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Expand Up @@ -211,11 +211,7 @@ void AP_MotorsHeli::output()
// block servo_test from happening at disarm
_servo_test_cycle_counter = 0;
calculate_armed_scalars();
if (!get_interlock()) {
output_armed_zero_throttle();
} else {
output_armed_stabilizing();
}
output_armed_stabilizing();
} else {
output_disarmed();
}
Expand All @@ -237,17 +233,6 @@ void AP_MotorsHeli::output_armed_stabilizing()
move_actuators(_roll_in, _pitch_in, get_throttle(), _yaw_in);
}

// output_armed_zero_throttle - sends commands to the motors
void AP_MotorsHeli::output_armed_zero_throttle()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_mode != SERVO_CONTROL_MODE_AUTOMATED) {
reset_flight_controls();
}

move_actuators(_roll_in, _pitch_in, get_throttle(), _yaw_in);
}

// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
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1 change: 0 additions & 1 deletion libraries/AP_Motors/AP_MotorsHeli.h
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Expand Up @@ -182,7 +182,6 @@ class AP_MotorsHeli : public AP_Motors {

// output - sends commands to the motors
void output_armed_stabilizing() override;
void output_armed_zero_throttle();
void output_disarmed();

// external objects we depend upon
Expand Down