ardupilot/ArduCopter/standby.cpp

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2019-09-28 10:37:57 -03:00
#include "Copter.h"
// Run standby functions at approximately 100 Hz to limit maximum variable build up
//
// When standby is active:
// all I terms are continually reset
// heading error is reset to zero
// position errors are reset to zero
// crash_check is disabled
// thrust_loss_check is disabled
// parachute_check is disabled
// and landing detection is disabled.
void Copter::standby_update()
{
if (!standby_active) {
return;
}
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->standby_xyz_reset();
}