Plane: output nav scripting throttle with rest of nav scripting stuff

ArduPilot · Feb 6, 2024 · 03ff3b1 · 03ff3b1
1 parent 2729b11
commit 03ff3b1
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Showing 3 changed files with 1 addition and 7 deletions.
diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
@@ -420,6 +420,7 @@ void Plane::stabilize()
         }
         SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, rudder);
         SRV_Channels::set_output_scaled(SRV_Channel::k_steering, rudder);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
 #endif
     } else {
         plane.control_mode->run();

diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
@@ -102,7 +102,6 @@ void ModeAuto::update()
         // NAV_SCRIPTING has a desired roll and pitch rate and desired throttle
         plane.nav_roll_cd = ahrs.roll_sensor;
         plane.nav_pitch_cd = ahrs.pitch_sensor;
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
 #endif
     } else {
         // we are doing normal AUTO flight, the special cases

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -582,12 +582,6 @@ void Plane::set_throttle(void)
     // Update voltage scaling
     g2.fwd_batt_cmp.update();
 
-#if AP_SCRIPTING_ENABLED
-    if (nav_scripting_active()) {
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
-    }
-#endif
-
     if (control_mode->use_battery_compensation()) {
         // Apply voltage compensation to throttle output from flight mode
         const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));