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Plane: use new APM_Control API

This commit is contained in:
Paul Riseborough 2013-04-23 21:08:44 +10:00 committed by Andrew Tridgell
parent 205397d030
commit 8c5b603848
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/Attitude.pde
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@ -83,7 +83,7 @@ static void stabilize_roll(float speed_scaler)
g.channel_roll.servo_out = g.pidServoRoll.get_pid_4500((nav_roll_cd - ahrs.roll_sensor), speed_scaler);
#else // APM_CONTROL == ENABLED
// calculate roll and pitch control using new APM_Control library
g.channel_roll.servo_out = g.rollController.get_servo_out(nav_roll_cd, speed_scaler, control_mode == STABILIZE);
g.channel_roll.servo_out = g.rollController.get_servo_out(nav_roll_cd, speed_scaler, control_mode == STABILIZE, g.flybywire_airspeed_min);
#endif
}
@ -105,7 +105,7 @@ static void stabilize_pitch(float speed_scaler)
}
g.channel_pitch.servo_out = g.pidServoPitch.get_pid_4500(tempcalc, speed_scaler);
#else // APM_CONTROL == ENABLED
g.channel_pitch.servo_out = g.pitchController.get_servo_out(nav_pitch_cd, speed_scaler, control_mode == STABILIZE);
g.channel_pitch.servo_out = g.pitchController.get_servo_out(nav_pitch_cd, speed_scaler, control_mode == STABILIZE, g.flybywire_airspeed_min, g.flybywire_airspeed_max);
#endif
}
@ -345,7 +345,7 @@ static void calc_nav_yaw(float speed_scaler, float ch4_inf)
g.channel_rudder.servo_out += g.pidServoRudder.get_pid_4500(error, speed_scaler);
#else // APM_CONTROL == ENABLED
// use the new APM_Control library
g.channel_rudder.servo_out = g.yawController.get_servo_out(speed_scaler, ch4_inf < 0.25f) + g.channel_roll.servo_out * g.kff_rudder_mix;
g.channel_rudder.servo_out = g.yawController.get_servo_out(speed_scaler, control_mode == STABILIZE, g.flybywire_airspeed_min, g.flybywire_airspeed_max) + g.channel_roll.servo_out * g.kff_rudder_mix;
#endif
}