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TradHeli: integrate init_targets rename to relax_bf_rate_controller

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This commit is contained in:
Randy Mackay 2014-06-06 12:05:09 +09:00
parent 77d5d682c1
commit 75c328a752
1 changed files with 2 additions and 3 deletions
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ArduCopter/heli_control_acro.pde
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@ -7,8 +7,7 @@
// heli_acro_init - initialise acro controller // heli_acro_init - initialise acro controller
static bool heli_acro_init(bool ignore_checks) static bool heli_acro_init(bool ignore_checks)
{ {
// clear stabilized rate errors // always successfully enter acro
attitude_control.init_targets();
return true; return true;
} }
@ -22,7 +21,7 @@ static void heli_acro_run()
// if not armed or main rotor not up to full speed clear stabilized rate errors // if not armed or main rotor not up to full speed clear stabilized rate errors
// unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move // unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed() || !motors.motor_runup_complete()) { if(!motors.armed() || !motors.motor_runup_complete()) {
attitude_control.init_targets(); attitude_control.relax_bf_rate_controller();
} }
// To-Do: add support for flybarred helis // To-Do: add support for flybarred helis