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AC_AttitudeControl_Heli: Remove ToDo. Rate controllers should always run even if throttle is zero.

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Robert Lefebvre 2014-07-03 13:46:23 -04:00 committed by Randy Mackay
parent f53181ec66
commit a7f6a91827
1 changed files with 0 additions and 1 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -73,7 +73,6 @@ void AC_AttitudeControl_Heli::rate_controller_run()
{ {
// call rate controllers and send output to motors object // 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: 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); 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)); _motors.set_yaw(rate_bf_to_motor_yaw(_rate_bf_target.z));
} }