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reset Rate_I for takeoff

This commit is contained in:
Jason Short 2012-02-10 22:50:56 -08:00
parent efce991bfb
commit b1d52da431
1 changed files with 11 additions and 6 deletions
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17
ArduCopter/ArduCopter.pde
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@ -903,12 +903,6 @@ static void fast_loop()
// IMU DCM Algorithm // IMU DCM Algorithm
read_AHRS(); read_AHRS();
if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
//reset_rate_I();
//reset_stability_I();
}
// custom code/exceptions for flight modes // custom code/exceptions for flight modes
// --------------------------------------- // ---------------------------------------
update_yaw_mode(); update_yaw_mode();
@ -1452,6 +1446,17 @@ void update_roll_pitch_mode(void)
break; break;
} }
if(g.rc_3.control_in == 0 && roll_pitch_mode <= ROLL_PITCH_ACRO){
reset_rate_I();
reset_stability_I();
}
if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
//reset_rate_I();
//reset_stability_I();
}
// clear new radio frame info // clear new radio frame info
new_radio_frame = false; new_radio_frame = false;
} }