Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

ACM: Attitude.pde - consolidated wind I term resets

Browse Source
This commit is contained in:
Jason Short 2012-03-18 14:47:49 -07:00
parent e42c64f94e
commit 722a4d01e8
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/Attitude.pde
View File

@ -255,7 +255,6 @@ static void reset_I_all(void)
{
reset_rate_I();
reset_stability_I();
reset_nav_I();
reset_wind_I();
reset_throttle_I();
reset_optflow_I();
@ -282,13 +281,14 @@ static void reset_optflow_I(void)
static void reset_wind_I(void)
{
// Wind Compensation
// this i is not currently being used, but we reset it anyway
// because someone may modify it and not realize it, causing a bug
g.pi_loiter_lat.reset_I();
g.pi_loiter_lon.reset_I();
}
static void reset_nav_I(void)
{
// Rate control for WP navigation
g.pid_loiter_rate_lat.reset_I();
g.pid_loiter_rate_lon.reset_I();
g.pid_nav_lat.reset_I();
g.pid_nav_lon.reset_I();
}