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ACM: TradHeli

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Remove Rate I-term reset when throttle stick is on the bottom.  This could be very bad for helis since it's plausible to use full downstick while flying.
There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway.
Also removed what appears to be some deadwood.
This commit is contained in:
Robert Lefebvre 2012-11-26 18:49:24 -05:00
parent 31ea32dc9c
commit 6056d4fb7b
1 changed files with 3 additions and 7 deletions
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8
ArduCopter/ArduCopter.pde
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@ -1604,16 +1604,12 @@ void update_roll_pitch_mode(void)
break; break;
} }
#if FRAME_CONFIG != HELI_FRAME
if(g.rc_3.control_in == 0 && control_mode <= ACRO) { if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
reset_rate_I(); reset_rate_I();
reset_stability_I(); reset_stability_I();
} }
#endif //HELI_FRAME
//if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
//reset_rate_I();
//reset_stability_I();
//}
if(ap_system.new_radio_frame) { if(ap_system.new_radio_frame) {
// clear new radio frame info // clear new radio frame info