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Copter: Tradheli- removes suppression of hover_trim_roll on auto takeoff

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bnsgeyer 2018-11-16 11:15:34 -05:00 committed by Randy Mackay
parent 3c432cf25c
commit 3869507839
1 changed files with 0 additions and 4 deletions
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4
ArduCopter/takeoff.cpp
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@ -159,10 +159,6 @@ void Copter::Mode::auto_takeoff_attitude_run(float target_yaw_rate)
// we haven't reached the takeoff navigation altitude yet // we haven't reached the takeoff navigation altitude yet
nav_roll = 0; nav_roll = 0;
nav_pitch = 0; nav_pitch = 0;
#if FRAME_CONFIG == HELI_FRAME
// prevent hover roll starting till past specified altitude
copter.hover_roll_trim_scalar_slew = 0;
#endif
// tell the position controller that we have limited roll/pitch demand to prevent integrator buildup // tell the position controller that we have limited roll/pitch demand to prevent integrator buildup
pos_control->set_limit_accel_xy(); pos_control->set_limit_accel_xy();
} else { } else {