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ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.

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This commit is contained in:
Robert Lefebvre 2012-12-08 20:41:05 -05:00
parent 083c451ec6
commit 39013a33bc
2 changed files with 8 additions and 2 deletions
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8
ArduCopter/config.h
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@ -96,7 +96,8 @@
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
# define RC_FAST_SPEED 125
#endif
# define STABILIZE_THROTTLE THROTTLE_MANUAL
#endif
// optical flow doesn't work in SITL yet
@ -534,6 +535,11 @@
#define EARTH_FRAME 0
#define BODY_FRAME 1
// Stabilize Mode
#ifndef STABILIZE_THROTTLE
# define STABILIZE_THROTTLE THROTTLE_MANUAL_TILT_COMPENSATED
#endif
// Alt Hold Mode
#ifndef ALT_HOLD_YAW
# define ALT_HOLD_YAW YAW_HOLD

2
ArduCopter/system.pde
View File

@ -447,7 +447,7 @@ static void set_mode(byte mode)
ap.manual_attitude = true;
set_yaw_mode(YAW_HOLD);
set_roll_pitch_mode(ROLL_PITCH_STABLE);
set_throttle_mode(THROTTLE_MANUAL_TILT_COMPENSATED);
set_throttle_mode(STABILIZE_THROTTLE);
break;
case ALT_HOLD: