From 825055d736dbf6483d533303b4c809df4207f6bc Mon Sep 17 00:00:00 2001
From: Mark Whitehorn <kd0aij@gmail.com>
Date: Wed, 6 Mar 2019 14:03:33 -0700
Subject: [PATCH] Plane: add rate-only option for QACRO mode
---
ArduPlane/quadplane.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 61de41cf49..45462c1d21 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -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);