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Plane: add rate-only option for QACRO mode

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Mark Whitehorn 2019-03-06 14:03:33 -07:00 committed by Andrew Tridgell
parent 6414f0e48e
commit 825055d736
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/quadplane.cpp
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@ -954,7 +954,11 @@ void QuadPlane::control_qacro(void)
float throttle_out = throttle_in*(1.0f-expo) + expo*throttle_in*throttle_in*throttle_in;
// run attitude controller
attitude_control->input_rate_bf_roll_pitch_yaw_3(target_roll, target_pitch, target_yaw);
if (plane.g.acro_locking) {
attitude_control->input_rate_bf_roll_pitch_yaw_3(target_roll, target_pitch, target_yaw);
} else {
attitude_control->input_rate_bf_roll_pitch_yaw_2(target_roll, target_pitch, target_yaw);
}
// output pilot's throttle without angle boost
attitude_control->set_throttle_out(throttle_out, false, 10.0f);