// 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_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input); update_motor_control(ROTOR_CONTROL_IDLE); }
// sends commands to the motors void AP_MotorsHeli::output_armed_stabilizing() { // if manual override active after arming, deactivate it and reinitialize servos if (_servo_manual == 1) { reset_flight_controls(); } move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input); update_motor_control(ROTOR_CONTROL_ACTIVE); }
void AP_MotorsHeli::output_armed_not_stabilizing() { // if manual override active after arming, deactivate it and reinitialize servos if (_servo_mode != SERVO_CONTROL_MODE_AUTOMATED) { reset_flight_controls(); } // helicopters always run stabilizing flight controls move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input); update_motor_control(ROTOR_CONTROL_ACTIVE); }