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Sub: cleanup depth hold

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Remove block of code that is replicated in the flight mode init()
This commit is contained in:
Willian Galvani 2019-12-09 19:01:49 -03:00 committed by Jacob Walser
parent ddd0119ccc
commit 265d848021
1 changed files with 0 additions and 14 deletions
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14
ArduSub/control_althold.cpp
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@ -33,20 +33,6 @@ void Sub::handle_attitude()
{
uint32_t tnow = AP_HAL::millis();
// initialize vertical speeds and acceleration
pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control.set_max_accel_z(g.pilot_accel_z);
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
last_pilot_heading = ahrs.yaw_sensor;
return;
}
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// get pilot desired lean angles