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Plane: manual stabilize: keep nav pitch and roll up to date

This commit is contained in:
Iampete1 2021-11-06 00:12:18 +00:00 committed by Peter Hall
parent e33e94799a
commit 51caf15f94
2 changed files with 5 additions and 2 deletions
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3
ArduPlane/mode_manual.cpp
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@ -6,5 +6,8 @@ void ModeManual::update()
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false)); SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false));
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.pitch_in_expo(false)); SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.pitch_in_expo(false));
plane.steering_control.steering = plane.steering_control.rudder = plane.rudder_in_expo(false); plane.steering_control.steering = plane.steering_control.rudder = plane.rudder_in_expo(false);
plane.nav_roll_cd = plane.ahrs.roll_sensor;
plane.nav_pitch_cd = plane.ahrs.pitch_sensor;
} }

4
ArduPlane/mode_stabilize.cpp
View File

@ -3,7 +3,7 @@
void ModeStabilize::update() void ModeStabilize::update()
{ {
plane.nav_roll_cd = 0; plane.nav_roll_cd = plane.ahrs.roll_sensor;
plane.nav_pitch_cd = 0; plane.nav_pitch_cd = plane.ahrs.pitch_sensor;
} }