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ACM: TradHeli
Remove Rate I-term reset when throttle stick is on the bottom. This could be very bad for helis since it's plausible to use full downstick while flying. There is obviously a risk here of building up a false I-term on the ground but this isn't a good solution for that anyway. Also removed what appears to be some deadwood.
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@ -1604,16 +1604,12 @@ void update_roll_pitch_mode(void)
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break;
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}
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#if FRAME_CONFIG != HELI_FRAME
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if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
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reset_rate_I();
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reset_stability_I();
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}
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//if(takeoff_complete == false){
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// reset these I terms to prevent awkward tipping on takeoff
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//reset_rate_I();
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//reset_stability_I();
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//}
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#endif //HELI_FRAME
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if(ap_system.new_radio_frame) {
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// clear new radio frame info
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