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Copter: loiter mode gets roll and pitch from loiter_nav

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both wp_nav and loiter_nav's get_roll() and get_pitch() simply get their values from the same underlying position controller
This commit is contained in:
Randy Mackay 2019-04-05 13:51:24 +09:00
parent 94738c3f86
commit 29d05dfeac
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/mode_loiter.cpp
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@ -122,7 +122,7 @@ void Copter::ModeLoiter::run()
attitude_control->set_yaw_target_to_current_heading(); attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
loiter_nav->init_target(); loiter_nav->init_target();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
pos_control->update_z_controller(); pos_control->update_z_controller();
break; break;