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Copter: Don't use land detector to stop stabilizing in stabilize
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@ -44,16 +44,10 @@ static void stabilize_run()
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// get pilot's desired throttle
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pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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}else{
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// call attitude controller
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// call attitude controller
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// body-frame rate controller is run directly from 100hz loop
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}
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// body-frame rate controller is run directly from 100hz loop
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// output pilot's throttle
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attitude_control.set_throttle_out(pilot_throttle_scaled, true);
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