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Copter: show pilot input in dataflash ATT message even when in AUTO

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AUTO mode ignores pilot input but we still want to be able to see the
pilot's input in the Roll-In and Pitch-In columns of the dataflash's ATT
message
This commit is contained in:
Randy Mackay 2013-06-19 12:37:13 +09:00
parent 5b29c82a2b
commit 245bc3d3fd
1 changed files with 7 additions and 4 deletions
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11
ArduCopter/ArduCopter.pde
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@ -1650,9 +1650,11 @@ void update_roll_pitch_mode(void)
update_simple_mode();
}
// copy control_roll and pitch for reporting purposes
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
// pass desired roll, pitch to stabilize attitude controllers
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
@ -1665,9 +1667,9 @@ void update_roll_pitch_mode(void)
get_stabilize_roll(nav_roll);
get_stabilize_pitch(nav_pitch);
// copy control_roll and pitch for reporting purposes
control_roll = nav_roll;
control_pitch = nav_pitch;
// user input, although ignored is put into control_roll and pitch for reporting purposes
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
break;
case ROLL_PITCH_STABLE_OF:
@ -1676,6 +1678,7 @@ void update_roll_pitch_mode(void)
update_simple_mode();
}
// copy pilot input to control_roll and pitch for reporting purposes
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
@ -1695,7 +1698,7 @@ void update_roll_pitch_mode(void)
if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode();
}
// copy user input for logging purposes
// copy user input for reporting purposes
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;