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Arducopter: cleanup, skip out of throttle control when flipping.

This commit is contained in:
Jason Short 2012-07-19 22:34:52 -07:00
parent fbe898a6db
commit 2b20c85279
1 changed files with 11 additions and 10 deletions
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21
ArduCopter/ArduCopter.pde
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@ -1223,8 +1223,8 @@ static void fifty_hz_loop()
// ------------------------------------------
update_altitude_est();
// moved to slower loop
// --------------------
// Update the throttle ouput
// -------------------------
update_throttle_mode();
// Read Sonar
@ -1614,8 +1614,6 @@ void update_roll_pitch_mode(void)
{
int control_roll, control_pitch;
// hack to do auto_flip - need to remove, no one is using.
if (do_flip){
if(abs(g.rc_1.control_in) < 2000){
roll_flip();
@ -1694,16 +1692,16 @@ void update_roll_pitch_mode(void)
break;
}
if(g.rc_3.control_in == 0 && roll_pitch_mode <= ROLL_PITCH_ACRO){
reset_rate_I();
reset_stability_I();
}
//if(g.rc_3.control_in == 0 && roll_pitch_mode <= ROLL_PITCH_ACRO){
//reset_rate_I();
//reset_stability_I();
//}
if(takeoff_complete == false){
//if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
//reset_rate_I();
//reset_stability_I();
}
//}
if(new_radio_frame){
// clear new radio frame info
@ -1756,6 +1754,9 @@ void update_simple_mode(void)
// controls all throttle behavior
void update_throttle_mode(void)
{
if(do_flip) // this is pretty bad but needed to flip in AP modes.
return;
int16_t throttle_out;
#if AUTO_THROTTLE_HOLD != 0