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Loiter I reset

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This commit is contained in:
Jason Short 2011-12-31 09:45:25 -08:00
parent 0ace8474d7
commit 1ef7f9fe62
2 changed files with 4 additions and 6 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1391,8 +1391,6 @@ static void update_navigation()
// reset LOITER to current position // reset LOITER to current position
next_WP = current_loc; next_WP = current_loc;
// clear Loiter Iterms
//reset_nav();
}else{ }else{
// this is also set by GPS in update_nav // this is also set by GPS in update_nav
wp_control = LOITER_MODE; wp_control = LOITER_MODE;

8
ArduCopter/Attitude.pde
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@ -239,12 +239,12 @@ static void reset_nav(void)
nav_throttle = 0; nav_throttle = 0;
invalid_throttle = true; invalid_throttle = true;
//g.pi_nav_lat.reset_I(); g.pi_nav_lat.reset_I();
//g.pi_nav_lon.reset_I(); g.pi_nav_lon.reset_I();
// considering not reseting wind control // considering not reseting wind control
//g.pi_loiter_lat.reset_I(); g.pi_loiter_lat.reset_I();
//g.pi_loiter_lon.reset_I(); g.pi_loiter_lon.reset_I();
circle_angle = 0; circle_angle = 0;
crosstrack_error = 0; crosstrack_error = 0;