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Copter: ACRO further clean up

This commit is contained in:
lthall 2014-01-27 16:07:02 +10:30 committed by Andrew Tridgell
parent af890e0f8d
commit 8268e27d49
1 changed files with 1 additions and 2 deletions
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3
ArduCopter/control_acro.pde
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@ -71,8 +71,7 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int
}else if (roll_angle < -aparm.angle_max) {
rate_ef_level.x += g.pi_stabilize_roll.get_p(-aparm.angle_max-roll_angle);
}
}
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
if (pitch_angle > aparm.angle_max){
rate_ef_level.y += g.pi_stabilize_pitch.get_p(aparm.angle_max-pitch_angle);
}else if (pitch_angle < -aparm.angle_max) {