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ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing)

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rmackay9 2012-07-28 16:22:35 +09:00
parent 48074f4766
commit 670a66667f
1 changed files with 3 additions and 1 deletions
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4
ArduCopter/ArduCopter.pde
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@ -2369,14 +2369,16 @@ static void tuning(){
g.pid_optflow_pitch.kD(tuning_value); g.pid_optflow_pitch.kD(tuning_value);
break; break;
#if HIL_MODE != HIL_MODE_ATTITUDE // do not allow modifying _kp or _kp_yaw gains in HIL mode
case CH6_AHRS_YAW_KP: case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value); ahrs._kp_yaw.set(tuning_value);
break; break;
case CH6_AHRS_KP: case CH6_AHRS_KP:
ahrs._kp.set(tuning_value); ahrs._kp.set(tuning_value);
//ahrs.push_gains_to_dmp();
break; break;
#endif
} }
} }