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TradHeli: compile error fix related to new ACRO

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The motors_runup_complete must be a feature that Rob has implemented in
his clone which has not yet reached master.  We will need to restore
these lost few trad-heli specific lines once Rob's changes make it to
master.
This commit is contained in:
Randy Mackay 2013-07-11 22:33:55 +09:00
parent 64ce9b017d
commit 1685ff274d
1 changed files with 9 additions and 27 deletions
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18
ArduCopter/Attitude.pde
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@ -124,15 +124,9 @@ get_roll_rate_stabilized_bf(int32_t stick_angle)
// don't let angle error grow too large
angle_error = constrain_float(angle_error, - MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// set body frame targets for rate controller
set_roll_rate_target(roll_axis + correction_rate, BODY_FRAME);
@ -180,15 +174,9 @@ get_pitch_rate_stabilized_bf(int32_t stick_angle)
// don't let angle error grow too large
angle_error = constrain_float(angle_error, - MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// set body frame targets for rate controller
set_pitch_rate_target(pitch_axis + correction_rate, BODY_FRAME);
@ -236,15 +224,9 @@ get_yaw_rate_stabilized_bf(int32_t stick_angle)
// don't let angle error grow too large
angle_error = constrain_float(angle_error, - MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// set body frame targets for rate controller
set_yaw_rate_target(nav_yaw + correction_rate, BODY_FRAME);