Sub: Update set_throttle_out() when disarmed in all modes.

Extends commit 56df6b to apply to other modes besides Manual.

Author: amarburg

ArduSub/mode_acro.cpp

@@ -19,7 +19,7 @@ void ModeAcro::run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         return;
     }

ArduSub/mode_auto.cpp

@@ -111,7 +111,7 @@ void ModeAuto::auto_wp_run()
         // call attitude controller
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         sub.wp_nav.wp_and_spline_init_m();                                                // Reset xy target
         return;
@@ -302,7 +302,7 @@ void ModeAuto::auto_loiter_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
 
         sub.wp_nav.wp_and_spline_init_m();                                                // Reset xy target
@@ -479,7 +479,7 @@ void ModeAuto::auto_terrain_recover_run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
 
         sub.loiter_nav.init_target();                                       // Reset xy target

ArduSub/mode_circle.cpp

@@ -46,7 +46,7 @@ void ModeCircle::run()
         // To-Do: add some initialisation of position controllers
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         sub.circle_nav.init();
         return;

ArduSub/mode_guided.cpp

@@ -464,7 +464,7 @@ void ModeGuided::guided_pos_control_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         sub.wp_nav.wp_and_spline_init_m();
         return;
@@ -529,7 +529,7 @@ void ModeGuided::guided_vel_control_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         // initialise velocity controller
         position_control->D_init_controller();
@@ -602,7 +602,7 @@ void ModeGuided::guided_posvel_control_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         // initialise velocity controller
         position_control->D_init_controller();
@@ -682,7 +682,7 @@ void ModeGuided::guided_angle_control_run()
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        attitude_control->set_throttle_out(0.0f,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5f,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         // initialise velocity controller
         position_control->D_init_controller();

ArduSub/mode_stabilize.cpp

@@ -18,7 +18,7 @@ void ModeStabilize::run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         sub.last_pilot_heading_rad = ahrs.get_yaw_rad();
         return;

ArduSub/mode_surface.cpp

@@ -25,7 +25,7 @@ void ModeSurface::run()
     if (!motors.armed()) {
         motors.output_min();
         motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
-        attitude_control->set_throttle_out(0,true,g.throttle_filt);
+        attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
         attitude_control->relax_attitude_controllers();
         position_control->D_init_controller();
         return;