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Plane: fix acro stabilization check

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Mark Whitehorn 2019-05-04 08:52:53 -06:00 committed by Andrew Tridgell
parent 4a7ce1b384
commit aeaff72e14
1 changed files with 7 additions and 7 deletions
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14
ArduPlane/quadplane.cpp
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@ -1869,11 +1869,6 @@ void QuadPlane::control_run(void)
switch (plane.control_mode->mode_number()) { switch (plane.control_mode->mode_number()) {
case Mode::Number::QACRO: case Mode::Number::QACRO:
control_qacro(); control_qacro();
if (!is_tailsitter()) {
// also stabilize using fixed wing surfaces
plane.stabilize_acro(plane.get_speed_scaler());
}
return;
break; break;
case Mode::Number::QSTABILIZE: case Mode::Number::QSTABILIZE:
control_stabilize(); control_stabilize();
@ -1896,10 +1891,15 @@ void QuadPlane::control_run(void)
default: default:
break; break;
} }
// we also stabilize using fixed wing surfaces // we also stabilize using fixed wing surfaces
float speed_scaler = plane.get_speed_scaler(); float speed_scaler = plane.get_speed_scaler();
plane.stabilize_roll(speed_scaler); if (plane.control_mode->mode_number() == Mode::Number::QACRO) {
plane.stabilize_pitch(speed_scaler); plane.stabilize_acro(speed_scaler);
} else {
plane.stabilize_roll(speed_scaler);
plane.stabilize_pitch(speed_scaler);
}
} }
/* /*