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HIL: don't access dcm functions in HIL mode

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the dcm is not valid in HIL_MODE_ATTITUDE

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2894 f9c3cf11-9bcb-44bc-f272-b75c42450872
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tridge60@gmail.com 2011-07-17 10:33:53 +00:00
parent 1a35209e5d
commit 0227c97a99
1 changed files with 2 additions and 0 deletions
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2
ArduCopterMega/system.pde
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@ -314,8 +314,10 @@ static void startup_ground(void)
//*/ //*/
// setup DCM for copters: // setup DCM for copters:
#if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.12); // higher for quads dcm.kp_roll_pitch(0.12); // higher for quads
dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate
#endif
//dcm.kp_yaw(0.02); //dcm.kp_yaw(0.02);
//dcm.ki_yaw(0); //dcm.ki_yaw(0);