Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: OF_Loiter update control_roll and pitch

Browse Source
This commit is contained in:
Randy Mackay 2013-12-02 11:58:59 +09:00
parent 9d92e46198
commit 8fcbb7e59b
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/ArduCopter.pde
View File

@ -1686,8 +1686,12 @@ void update_roll_pitch_mode(void)
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
// mix in user control with optical flow
get_stabilize_roll(get_of_roll(control_roll));
get_stabilize_pitch(get_of_pitch(control_pitch));
control_roll = get_of_roll(control_roll);
control_pitch = get_of_pitch(control_pitch);
// call stabilize controller
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
break;
case ROLL_PITCH_DRIFT: