Plane: allow set_throttle in manual and move disarmed override up

ArduPilot · Feb 14, 2024 · 2337f06 · 2337f06
1 parent 9cc194b
commit 2337f06
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Showing 2 changed files with 27 additions and 16 deletions.
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
@@ -398,6 +398,13 @@ class ModeManual : public Mode
     void update() override;
 
     void run() override;
+
+    // true if throttle min/max limits should be applied
+    bool use_throttle_limits() const { return false; }
+
+    // true if voltage correction should be applied to throttle
+    bool use_battery_compensation() const { return false; }
+
 };
 
 

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -73,6 +73,11 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
 */
 bool Plane::suppress_throttle(void)
 {
+    if (control_mode == &mode_manual) {
+        // Throttle is never suppressed in manual mode
+        return false;
+    }
+
 #if PARACHUTE == ENABLED
     if (control_mode->does_auto_throttle() && parachute.release_initiated()) {
         // throttle always suppressed in auto-throttle modes after parachute release initiated
@@ -562,20 +567,7 @@ void Plane::set_throttle(void)
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle);
     }
 
-    if (!arming.is_armed_and_safety_off()) {
-        // Always set 0 scaled even if overriding to zero pwm.
-        // This ensures slew limits and other functions using the scaled value pick up in the correct place
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0.0);
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0.0);
-
-        if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
-            SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
-            SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
-            SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
-        }
-
-    } else if (suppress_throttle()) {
+    if (suppress_throttle()) {
         if (g.throttle_suppress_manual) {
             // manual pass through of throttle while throttle is suppressed
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
@@ -842,8 +834,20 @@ void Plane::set_servos(void)
         landing.override_servos();
     }
 
-    if (control_mode != &mode_manual) {
-        set_throttle();
+    set_throttle();
+
+    if ((control_mode != &mode_manual) && !arming.is_armed_and_safety_off()) {
+        // Always set 0 scaled even if overriding to zero pwm.
+        // This ensures slew limits and other functions using the scaled value pick up in the correct place
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0.0);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0.0);
+
+        if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
+        }
     }
 
     // Warn AHRS if we might take off soon