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This commit is contained in:
Jason Short 2012-02-19 14:21:22 -08:00
parent 7a60f33874
commit 7bfda28cdc
1 changed files with 2 additions and 2 deletions
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ArduCopter/ArduCopter.pde
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@ -1383,6 +1383,7 @@ void update_yaw_mode(void)
case YAW_AUTO: case YAW_AUTO:
nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -20, 20); // 40 deg a second nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -20, 20); // 40 deg a second
//Serial.printf("nav_yaw %d ", nav_yaw);
nav_yaw = wrap_360(nav_yaw); nav_yaw = wrap_360(nav_yaw);
break; break;
} }
@ -1958,7 +1959,6 @@ static void tuning(){
break; break;
case CH6_STABILIZE_KP: case CH6_STABILIZE_KP:
//g.rc_6.set_range(0,8000); // 0 to 8
g.pi_stabilize_roll.kP(tuning_value); g.pi_stabilize_roll.kP(tuning_value);
g.pi_stabilize_pitch.kP(tuning_value); g.pi_stabilize_pitch.kP(tuning_value);
break; break;
@ -1983,7 +1983,6 @@ static void tuning(){
break; break;
case CH6_YAW_RATE_KP: case CH6_YAW_RATE_KP:
//g.rc_6.set_range(0,1000);
g.pid_rate_yaw.kP(tuning_value); g.pid_rate_yaw.kP(tuning_value);
break; break;
@ -2144,5 +2143,6 @@ static void update_auto_yaw()
// Point towards next WP // Point towards next WP
auto_yaw = target_bearing; auto_yaw = target_bearing;
} }
//Serial.printf("auto_yaw %d ", auto_yaw);
// MAV_ROI_NONE = basic Yaw hold // MAV_ROI_NONE = basic Yaw hold
} }