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Copter: move acro's var initialisation to roll-pitch and yaw controller initialisation

This commit is contained in:
Randy Mackay 2013-09-09 10:54:13 +09:00
parent 942ba0476b
commit 1abb439051
2 changed files with 10 additions and 4 deletions
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10
ArduCopter/ArduCopter.pde
View File

@ -1431,8 +1431,11 @@ bool set_yaw_mode(uint8_t new_yaw_mode)
switch( new_yaw_mode ) { switch( new_yaw_mode ) {
case YAW_HOLD: case YAW_HOLD:
yaw_initialised = true;
break;
case YAW_ACRO: case YAW_ACRO:
yaw_initialised = true; yaw_initialised = true;
acro_yaw_rate = 0;
break; break;
case YAW_LOOK_AT_NEXT_WP: case YAW_LOOK_AT_NEXT_WP:
if( ap.home_is_set ) { if( ap.home_is_set ) {
@ -1660,7 +1663,14 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
switch( new_roll_pitch_mode ) { switch( new_roll_pitch_mode ) {
case ROLL_PITCH_STABLE: case ROLL_PITCH_STABLE:
roll_pitch_initialised = true;
break;
case ROLL_PITCH_ACRO: case ROLL_PITCH_ACRO:
// reset acro level rates
acro_roll_rate = 0;
acro_pitch_rate = 0;
roll_pitch_initialised = true;
break;
case ROLL_PITCH_AUTO: case ROLL_PITCH_AUTO:
case ROLL_PITCH_STABLE_OF: case ROLL_PITCH_STABLE_OF:
case ROLL_PITCH_TOY: case ROLL_PITCH_TOY:

4
ArduCopter/system.pde
View File

@ -360,10 +360,6 @@ static bool set_mode(uint8_t mode)
set_roll_pitch_mode(ACRO_RP); set_roll_pitch_mode(ACRO_RP);
set_throttle_mode(ACRO_THR); set_throttle_mode(ACRO_THR);
set_nav_mode(NAV_NONE); set_nav_mode(NAV_NONE);
// reset acro level rates
acro_roll_rate = 0;
acro_pitch_rate = 0;
acro_yaw_rate = 0;
break; break;
case STABILIZE: case STABILIZE: