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ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.

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This commit is contained in:
Robert Lefebvre 2012-12-08 20:41:05 -05:00
parent 0eb57bf93d
commit aa4d4f8c24
2 changed files with 8 additions and 2 deletions
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6
ArduCopter/config.h
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@ -96,6 +96,7 @@
# define HELI_ROLL_FF 0 # define HELI_ROLL_FF 0
# define HELI_YAW_FF 0 # define HELI_YAW_FF 0
# define RC_FAST_SPEED 125 # define RC_FAST_SPEED 125
# define STABILIZE_THROTTLE THROTTLE_MANUAL
#endif #endif
@ -534,6 +535,11 @@
#define EARTH_FRAME 0 #define EARTH_FRAME 0
#define BODY_FRAME 1 #define BODY_FRAME 1
// Stabilize Mode
#ifndef STABILIZE_THROTTLE
# define STABILIZE_THROTTLE THROTTLE_MANUAL_TILT_COMPENSATED
#endif
// Alt Hold Mode // Alt Hold Mode
#ifndef ALT_HOLD_YAW #ifndef ALT_HOLD_YAW
# define ALT_HOLD_YAW YAW_HOLD # define ALT_HOLD_YAW YAW_HOLD

2
ArduCopter/system.pde
View File

@ -447,7 +447,7 @@ static void set_mode(byte mode)
ap.manual_attitude = true; ap.manual_attitude = true;
set_yaw_mode(YAW_HOLD); set_yaw_mode(YAW_HOLD);
set_roll_pitch_mode(ROLL_PITCH_STABLE); set_roll_pitch_mode(ROLL_PITCH_STABLE);
set_throttle_mode(THROTTLE_MANUAL_TILT_COMPENSATED); set_throttle_mode(STABILIZE_THROTTLE);
break; break;
case ALT_HOLD: case ALT_HOLD: