mirror of https://github.com/ArduPilot/ardupilot
23 lines
643 B
C++
23 lines
643 B
C++
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#include "Copter.h"
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// Run standby functions at approximately 100 Hz to limit maximum variable build up
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//
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// When standby is active:
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// all I terms are continually reset
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// heading error is reset to zero
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// position errors are reset to zero
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// crash_check is disabled
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// thrust_loss_check is disabled
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// parachute_check is disabled
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// and landing detection is disabled.
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void Copter::standby_update()
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{
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if (!standby_active) {
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return;
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}
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_yaw_target_to_current_heading();
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pos_control->standby_xyz_reset();
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}
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