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Added precalc for wind compensation when entering Stabilze mode

This commit is contained in:
Jason Short 2012-01-03 22:50:33 -08:00
parent bf8e3975ec
commit 123ce533bb
1 changed files with 6 additions and 2 deletions
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8
ArduCopter/system.pde
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@ -525,8 +525,9 @@ static void set_mode(byte mode)
// reset all of the throttle iterms
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
}else { // an automatic throttle
}else {
// an automatic throttle
// todo: replace with a throttle cruise estimator
init_throttle_cruise();
}
@ -537,7 +538,10 @@ static void set_mode(byte mode)
reset_nav();
// removes the navigation from roll and pitch commands, but leaves the wind compensation
calc_wind_compensation();
if(GPS_enabled)
wp_control = NO_NAV_MODE;
update_nav_wp();
}
Log_Write_Mode(control_mode);