Correct handling for CUT_MOTORS disabled

[GoogleCodeExporter]

Arducoper NG 2.3

When CUT_MOTORS is DISBALED in config.h, octocopter behavior don't take into 
account this setting, motors is cut when throtle is low.

In file motors_octa.pde, just add the following after line 162 :

#if CUT_MOTORS == DISABLED
    // if not sending a throttle output, idle motors with min throttle
    if(g.rc_3.servo_out == 0){
        motor_out[MOT_1]    = g.rc_3.radio_min + MINIMUM_THROTTLE;
        motor_out[MOT_2]    = g.rc_3.radio_min + MINIMUM_THROTTLE;
        motor_out[MOT_3]    = g.rc_3.radio_min + MINIMUM_THROTTLE;
        motor_out[MOT_4]    = g.rc_3.radio_min + MINIMUM_THROTTLE;
        motor_out[MOT_5]    = g.rc_3.radio_min + MINIMUM_THROTTLE;
        motor_out[MOT_6]    = g.rc_3.radio_min + MINIMUM_THROTTLE;
        motor_out[MOT_7]    = g.rc_3.radio_min + MINIMUM_THROTTLE;
        motor_out[MOT_8]    = g.rc_3.radio_min + MINIMUM_THROTTLE;
    }
    #endif

Original issue reported on code.google.com by airma...@gmail.com on 6 Mar 2012 at 1:57

[GoogleCodeExporter]

airmamaf,
    thanks again.  I'm not sure how many people really like the behaviour of the motors continuing to spin until you disarm...but I think what you're saying is correct.  I'm planning on re-architecting the motor code in 2.6 (we're just about to release 2.5) so I'll put this change in there.

Original comment by rmackay...@gmail.com on 14 Mar 2012 at 2:28

• Changed state: Accepted

[GoogleCodeExporter]

In fact it's for security reason I disable CUT_MOTORS, when spinning I know my 
copter is armed. But the problem with CUT_MOTORS disabled, is emergency, when 
you need to cut your motor quickly, so I need also to configure on my radio a 
switch to send an order to disarm copter (and change also flying mode to first 
position). 
To do that I need also to reduce the delay for disarming, without entering in 
acc calibration (Enhancement 373).

Original comment by airma...@gmail.com on 15 Mar 2012 at 8:26

[GoogleCodeExporter]

Most emergencies happen when testing navigation or alt hold and this is where 
motors will NOT cut with zero throttle. Right? Otherwise, some like seeing 
props move when armed because LED is not always visible. I'd like to have them 
twitching instead of spinnning when armed (like in motor test), I think that 
way everybody can be happy.

Original comment by zviratko...@gmail.com on 18 Mar 2012 at 10:23

[GoogleCodeExporter]

You're right motor twitching could be interesting. 

Original comment by airma...@gmail.com on 19 Mar 2012 at 12:28

[GoogleCodeExporter]

It's an old issue but I will leave it here. I don't like the idea about motor 
running, but I like the idea about "twitching" like in test when we are armed. 
I think this will improve safety (people can see that it is a bad idea to put 
there head or hands close to the propellars when they can se them rotating).

Original comment by Benny.Si...@gmail.com on 20 Jan 2013 at 10:30

[GoogleCodeExporter]

Closing all issues on the old issues list by marking them WontFix.

If this is still a valid issue please re-raise it on the new GitHub issues 
list: https://github.com/diydrones/ardupilot/issues

Thanks!

Original comment by rmackay...@gmail.com on 21 Jul 2013 at 2:14

• Changed state: WontFix