Copter: Two processes in one

This commit is contained in:
muramura 2023-08-31 07:14:34 +09:00 committed by Andrew Tridgell
parent e71baf4a6a
commit 5ce731fa00

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@ -261,11 +261,7 @@ void ModeSystemId::run()
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// output pilot's throttle
if (copter.is_tradheli()) {
attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
} else {
attitude_control->set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt);
}
attitude_control->set_throttle_out(pilot_throttle_scaled, !copter.is_tradheli(), g.throttle_filt);
if (log_subsample <= 0) {
log_data();