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ACM system.pde - toy mode update, cleanup of throttle cruise code

This commit is contained in:
Jason Short 2012-08-09 16:56:05 -07:00
parent e7632b9517
commit 3b2a1ad9e8
1 changed files with 7 additions and 6 deletions
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13
ArduCopter/system.pde
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@ -554,8 +554,13 @@ static void set_mode(byte mode)
case TOY: case TOY:
yaw_mode = YAW_TOY; yaw_mode = YAW_TOY;
roll_pitch_mode = ROLL_PITCH_TOY; roll_pitch_mode = ROLL_PITCH_TOY;
throttle_mode = THROTTLE_MANUAL;
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
// init throttle
update_toy_throttle();
// hold the current altitude
set_new_altitude(current_loc.alt);
break; break;
default: default:
@ -570,9 +575,6 @@ static void set_mode(byte mode)
motors.auto_armed(true); motors.auto_armed(true);
} }
// called to calculate gain for alt hold
update_throttle_cruise();
if(roll_pitch_mode <= ROLL_PITCH_ACRO){ if(roll_pitch_mode <= ROLL_PITCH_ACRO){
// We are under manual attitude control // We are under manual attitude control
// remove the navigation from roll and pitch command // remove the navigation from roll and pitch command
@ -615,9 +617,8 @@ init_simple_bearing()
initial_simple_bearing = ahrs.yaw_sensor; initial_simple_bearing = ahrs.yaw_sensor;
} }
static void update_throttle_cruise() static void update_throttle_cruise(int16_t tmp)
{ {
int16_t tmp = g.pi_alt_hold.get_integrator();
if(tmp != 0){ if(tmp != 0){
g.throttle_cruise += tmp; g.throttle_cruise += tmp;
reset_throttle_I(); reset_throttle_I();