Пример #1
0
// throttle_loop - should be run at 50 hz
// ---------------------------
void Sub::throttle_loop()
{
    // update throttle_low_comp value (controls priority of throttle vs attitude control)
    update_throttle_thr_mix();

    // check auto_armed status
    update_auto_armed();

#if GNDEFFECT_COMPENSATION == ENABLED
    update_ground_effect_detector();
#endif // GNDEFFECT_COMPENSATION == ENABLED
}
Пример #2
0
// throttle_loop - should be run at 50 hz
// ---------------------------
void Copter::throttle_loop()
{
    // get altitude and climb rate from inertial lib
    read_inertial_altitude();

    // update throttle_low_comp value (controls priority of throttle vs attitude control)
    update_throttle_thr_mix();

    // check auto_armed status
    update_auto_armed();

#if FRAME_CONFIG == HELI_FRAME
    // update rotor speed
    heli_update_rotor_speed_targets();

    // update trad heli swash plate movement
    heli_update_landing_swash();
#endif
}
Пример #3
0
// throttle_loop - should be run at 50 hz
// ---------------------------
void Copter::throttle_loop()
{
    // update throttle_low_comp value (controls priority of throttle vs attitude control)
    update_throttle_thr_mix();

    // check auto_armed status
    update_auto_armed();

#if FRAME_CONFIG == HELI_FRAME
    // update rotor speed
    heli_update_rotor_speed_targets();

    // update trad heli swash plate movement
    heli_update_landing_swash();
#endif

    // compensate for ground effect (if enabled)
    update_ground_effect_detector();
}
Пример #4
0
// throttle_loop - should be run at 50 hz
// ---------------------------
void Copter::throttle_loop()
{
    // update throttle_low_comp value (controls priority of throttle vs attitude control)
    update_throttle_thr_mix();

    // check auto_armed status
    update_auto_armed();

#if FRAME_CONFIG == HELI_FRAME
    // update rotor speed
    heli_update_rotor_speed_targets();

    // update trad heli swash plate movement
    heli_update_landing_swash();
#endif

#if GNDEFFECT_COMPENSATION == ENABLED
    update_ground_effect_detector();
#endif // GNDEFFECT_COMPENSATION == ENABLED
}
Пример #5
0
// throttle_loop - should be run at 50 hz
// ---------------------------
void Sub::throttle_loop()
{
    // check auto_armed status
    update_auto_armed();
}