From 4eb6f0f646484ade8a1fcfccbe0e3c82227dfda7 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 27 Jul 2015 16:37:37 +0900
Subject: [PATCH] Copter: slow start motors after landing in Stabilize, Acro
---
ArduCopter/control_acro.cpp | 4 ++++
ArduCopter/control_stabilize.cpp | 4 ++++
2 files changed, 8 insertions(+)
diff --git a/ArduCopter/control_acro.cpp b/ArduCopter/control_acro.cpp
index 89c870818e..db4042d83b 100644
--- a/ArduCopter/control_acro.cpp
+++ b/ArduCopter/control_acro.cpp
@@ -23,6 +23,10 @@ void Copter::acro_run()
// if motors not running reset angle targets
if(!motors.armed() || ap.throttle_zero) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+ // slow start if landed
+ if (ap.land_complete) {
+ motors.slow_start(true);
+ }
return;
}
diff --git a/ArduCopter/control_stabilize.cpp b/ArduCopter/control_stabilize.cpp
index 4a10e06192..1390260886 100644
--- a/ArduCopter/control_stabilize.cpp
+++ b/ArduCopter/control_stabilize.cpp
@@ -28,6 +28,10 @@ void Copter::stabilize_run()
// if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || ap.throttle_zero) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
+ // slow start if landed
+ if (ap.land_complete) {
+ motors.slow_start(true);
+ }
return;
}
--
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