Plane: match cork() and push()

ArduPilot · Dec 8, 2024 · 356d797 · 356d797
1 parent 9d21b33
commit 356d797
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -1163,7 +1163,7 @@ class Plane : public AP_Vehicle {
     void dspoiler_update(void);
     void airbrake_update(void);
     void landing_neutral_control_surface_servos(void);
-    void servos_output(void);
+    void servos_output(bool cork = true);
     void servos_auto_trim(void);
     void servos_twin_engine_mix();
     void force_flare();

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -961,7 +961,7 @@ void Plane::set_servos(void)
 #endif  // AP_ICENGINE_ENABLED
 
     // run output mixer and send values to the hal for output
-    servos_output();
+    servos_output(false);
 }
 
 /*
@@ -1017,10 +1017,12 @@ void Plane::indicate_waiting_for_rud_neutral_to_takeoff(void)
   for each channel and calculates PWM values, then pushes them to
   hal.rcout
  */
-void Plane::servos_output(void)
+void Plane::servos_output(bool cork)
 {
     auto &srv = AP::srv();
-    srv.cork();
+    if (cork) {
+        srv.cork();
+    }
 
     // support twin-engine aircraft
     servos_twin_engine_mix();