Plane: allow quadplanes to scale ESC CAN like normal

magicrub · Mar 4, 2024 · d1f55f2 · d1f55f2
1 parent bd928fb
commit d1f55f2
Showing 1 changed file with 3 additions and 10 deletions.
diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
@@ -49,16 +49,9 @@ void Plane::set_control_channels(void)
     quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);
 #endif
 
-    bool set_throttle_esc_scaling = true;
-#if HAL_QUADPLANE_ENABLED
-    set_throttle_esc_scaling = !quadplane.enable;
-#endif
-    if (set_throttle_esc_scaling) {
-        // setup correct scaling for ESCs like the UAVCAN ESCs which
-        // take a proportion of speed. For quadplanes we use AP_Motors
-        // scaling
-        g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
-    }
+    // setup correct scaling for ESCs like the UAVCAN ESCs which
+    // take a proportion of speed.
+    g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
 }
 
 /*