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ACM: Attitude.pde - consolidated wind I term resets

This commit is contained in:
Jason Short 2012-03-18 14:47:49 -07:00
parent fe7ca98701
commit a0717f082e
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/Attitude.pde
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@ -255,7 +255,6 @@ static void reset_I_all(void)
{ {
reset_rate_I(); reset_rate_I();
reset_stability_I(); reset_stability_I();
reset_nav_I();
reset_wind_I(); reset_wind_I();
reset_throttle_I(); reset_throttle_I();
reset_optflow_I(); reset_optflow_I();
@ -282,13 +281,14 @@ static void reset_optflow_I(void)
static void reset_wind_I(void) static void reset_wind_I(void)
{ {
// Wind Compensation // Wind Compensation
// this i is not currently being used, but we reset it anyway
// because someone may modify it and not realize it, causing a bug
g.pi_loiter_lat.reset_I(); g.pi_loiter_lat.reset_I();
g.pi_loiter_lon.reset_I(); g.pi_loiter_lon.reset_I();
}
static void reset_nav_I(void) g.pid_loiter_rate_lat.reset_I();
{ g.pid_loiter_rate_lon.reset_I();
// Rate control for WP navigation
g.pid_nav_lat.reset_I(); g.pid_nav_lat.reset_I();
g.pid_nav_lon.reset_I(); g.pid_nav_lon.reset_I();
} }