From a7f6a91827f75d3fe9559246dec48b07bb6cc106 Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Thu, 3 Jul 2014 13:46:23 -0400 Subject: [PATCH] AC_AttitudeControl_Heli: Remove ToDo. Rate controllers should always run even if throttle is zero. --- libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp index fee7878278..da25549ebd 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp @@ -73,7 +73,6 @@ void AC_AttitudeControl_Heli::rate_controller_run() { // call rate controllers and send output to motors object // To-Do: should the outputs from get_rate_roll, pitch, yaw be int16_t which is the input to the motors library? - // To-Do: skip this step if the throttle out is zero? rate_bf_to_motor_roll_pitch(_rate_bf_target.x, _rate_bf_target.y); _motors.set_yaw(rate_bf_to_motor_yaw(_rate_bf_target.z)); }