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Sub: Set neutral controls when switching to manual/acro mode

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dheideman 2017-10-30 13:07:58 -07:00 committed by Jacob Walser
parent 08298fced6
commit 47d5de353d
2 changed files with 8 additions and 0 deletions
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4
ArduSub/control_acro.cpp
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@ -11,6 +11,10 @@ bool Sub::acro_init()
// set target altitude to zero for reporting // set target altitude to zero for reporting
pos_control.set_alt_target(0); pos_control.set_alt_target(0);
// attitude hold inputs become thrust inputs in acro mode
// set to neutral to prevent chaotic behavior (esp. roll/pitch)
set_neutral_controls();
return true; return true;
} }

4
ArduSub/control_manual.cpp
View File

@ -6,6 +6,10 @@ bool Sub::manual_init()
// set target altitude to zero for reporting // set target altitude to zero for reporting
pos_control.set_alt_target(0); pos_control.set_alt_target(0);
// attitude hold inputs become thrust inputs in manual mode
// set to neutral to prevent chaotic behavior (esp. roll/pitch)
set_neutral_controls();
return true; return true;
} }