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Copter: Loiter stabilizes roll and pitch while landed

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This commit is contained in:
Randy Mackay 2016-05-05 21:58:59 +09:00
parent 9c12b64ba5
commit 1c4db779a1
1 changed files with 2 additions and 7 deletions
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9
ArduCopter/control_loiter.cpp
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@ -156,21 +156,16 @@ void Copter::loiter_run()
case Loiter_Landed:
wp_nav.init_loiter_target();
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
#else
// if throttle zero reset attitude and exit immediately
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
}else{
} else {
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
// multicopters do not stabilize roll/pitch/yaw when disarmed
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;