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Copter: Clarify that the target_yaw_rate variable is set

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murata 2022-05-20 00:30:05 +09:00 committed by Randy Mackay
parent 24771ab2a4
commit 3b47da3d30
1 changed files with 1 additions and 2 deletions
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3
ArduCopter/mode_stabilize_heli.cpp
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@ -22,7 +22,6 @@ bool ModeStabilize_Heli::init(bool ignore_checks)
void ModeStabilize_Heli::run() void ModeStabilize_Heli::run()
{ {
float target_roll, target_pitch; float target_roll, target_pitch;
float target_yaw_rate;
float pilot_throttle_scaled; float pilot_throttle_scaled;
// apply SIMPLE mode transform to pilot inputs // apply SIMPLE mode transform to pilot inputs
@ -32,7 +31,7 @@ void ModeStabilize_Heli::run()
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max); get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()); float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot's desired throttle // get pilot's desired throttle
pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in()); pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());