AP_Motors: smoother ramp down in output_motor_mask

stop changing motors outside the given mask in output_motor_mask, which gives smoother ramp down in tilt quadplanes when we are transitioning to forward flight thanks to Pete for the suggestion
ArduPilot · Mar 5, 2024 · 171da3d · 171da3d
1 parent 2b784e0
commit 171da3d
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -733,20 +733,21 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint16_t mask, float
     _motor_mask_override = mask;
 
     for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
-        if (motor_enabled[i]) {
-            if ((mask & (1U << i)) && armed() && get_interlock()) {
+        if (motor_enabled[i] && (mask & (1U << i)) != 0) {
+            if (armed() && get_interlock()) {
                 /*
                  apply rudder mixing differential thrust
                  copter frame roll is plane frame yaw as this only
                  apples to either tilted motors or tailsitters
                  */
                 float diff_thrust = get_roll_factor(i) * rudder_dt * 0.5f;
                 set_actuator_with_slew(_actuator[i], thrust + diff_thrust);
-                int16_t pwm_output = pwm_min + pwm_range * _actuator[i];
-                rc_write(i, pwm_output);
             } else {
-                rc_write(i, pwm_min);
+                // zero throttle
+                _actuator[i] = 0.0;
             }
+            int16_t pwm_output = pwm_min + pwm_range * _actuator[i];
+            rc_write(i, pwm_output);
         }
     }
 }

diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -92,7 +92,7 @@ void AP_MotorsTri::output_to_motors()
             // sends minimum values out to the motors
             for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
                 if (motor_enabled_mask(i)) {
-                    rc_write(AP_MOTORS_MOT_1+i, output_to_pwm(0));
+                    _actuator[AP_MOTORS_MOT_1+i] = 0;
                 }
             }
             rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);