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Copter: integrate non-GPS avoidance into althold

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This commit is contained in:
Randy Mackay 2016-12-17 12:42:58 +09:00
parent 1b582b2009
commit 5f0a4c2097
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/control_althold.cpp
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@ -134,6 +134,10 @@ void Copter::althold_run()
case AltHold_Flying:
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// apply avoidance
avoid.adjust_roll_pitch(target_roll, target_pitch, aparm.angle_max);
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());