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fix(throttle): avoid duplicate cruise command #123

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Merged
zjwhitehead merged 1 commit into from
Aug 24, 2026
Merged

fix(throttle): avoid duplicate cruise command #123

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8 changes: 2 additions & 6 deletions src/sp140/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1120,13 +1120,9 @@ bool shouldDisengageCruise(int potVal) {

/**
* Handles throttle control when in ARMED_CRUISING state
* @param currentCruiseThrottlePWM Reference to the cruise PWM value
* @param potVal Current raw potentiometer value
*/
void handleCruisingThrottle(uint16_t &currentCruiseThrottlePWM, int potVal) {
// Set the ESC throttle to the determined (and potentially capped) cruise PWM
setESCThrottle(currentCruiseThrottlePWM);

void handleCruisingThrottle(int potVal) {
// Check for cruise disengagement via potentiometer override
if (shouldDisengageCruise(potVal)) {
changeDeviceState(ARMED); // Transition back to normal ARMED state
Expand Down Expand Up @@ -1170,7 +1166,7 @@ void handleThrottle() {
break;

case ARMED_CRUISING:
handleCruisingThrottle(currentCruiseThrottlePWM, readThrottleRaw());
handleCruisingThrottle(readThrottleRaw());
finalPwm = currentCruiseThrottlePWM; // Use cruise PWM
break;

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