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This commit is contained in:
Jason Short 2012-01-09 16:57:57 -08:00
parent 5b00928b15
commit 9d1b1dba77
1 changed files with 14 additions and 0 deletions
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14
ArduCopter/Attitude.pde
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@ -237,14 +237,28 @@ static void reset_hold_I(void)
// Keeps old data out of our calculation / logs // Keeps old data out of our calculation / logs
static void reset_nav(void) static void reset_nav(void)
{ {
// forces us to update nav throttle
invalid_throttle = true; invalid_throttle = true;
nav_throttle = 0; nav_throttle = 0;
// always start Circle mode at same angle
circle_angle = 0; circle_angle = 0;
// We must be heading to a new WP, so XTrack must be 0
crosstrack_error = 0; crosstrack_error = 0;
// Will be set by new command
target_bearing = 0; target_bearing = 0;
// Will be set by new command
wp_distance = 0; wp_distance = 0;
// Will be set by new command, used by loiter
long_error = 0; long_error = 0;
lat_error = 0; lat_error = 0;
// Will be set by new command, used by loiter
next_WP.alt = 0;
} }
static void reset_rate_I() static void reset_rate_I()