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AC_AttitudeControl_Heli: Add initialization of _flags_heli members

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Robert Lefebvre 2015-09-21 22:08:49 -04:00 committed by Randy Mackay
parent 6e815dd45c
commit 69ab06fb5e
1 changed files with 10 additions and 2 deletions
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12
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -30,9 +30,17 @@ public:
pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
yaw_velocity_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER)
{
{
AP_Param::setup_object_defaults(this, var_info);
}
// initialise flags
_flags_heli.limit_roll = false;
_flags_heli.limit_pitch = false;
_flags_heli.limit_yaw = false;
_flags_heli.leaky_i = true;
_flags_heli.flybar_passthrough = false;
_flags_heli.tail_passthrough = false;
}
// passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf);