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ACM: reset all I terms on gyro calibration

This commit is contained in:
Andrew Tridgell 2012-01-05 10:15:14 +11:00
parent a6808162d6
commit 600a5680f8
1 changed files with 26 additions and 0 deletions
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26
ArduCopter/system.pde
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@ -361,6 +361,28 @@ static void init_ardupilot()
SendDebug("\nReady to FLY "); SendDebug("\nReady to FLY ");
} }
/*
reset all I integrators
*/
static void reset_I_all(void)
{
g.pi_rate_roll.reset_I();
g.pi_rate_pitch.reset_I();
g.pi_rate_yaw.reset_I();
g.pi_stabilize_roll.reset_I();
g.pi_stabilize_pitch.reset_I();
g.pi_stabilize_yaw.reset_I();
g.pi_loiter_lat.reset_I();
g.pi_loiter_lon.reset_I();
g.pi_nav_lat.reset_I();
g.pi_nav_lon.reset_I();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
g.pi_acro_roll.reset_I();
g.pi_acro_pitch.reset_I();
}
//******************************************************************************** //********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start //This function does all the calibrations, etc. that we need during a ground start
//******************************************************************************** //********************************************************************************
@ -380,6 +402,10 @@ static void startup_ground(void)
// reset the leds // reset the leds
// --------------------------- // ---------------------------
clear_leds(); clear_leds();
// when we re-calibrate the gyros, all previous I values now
// make no sense
reset_I_all();
} }
/* /*