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Copter: Don't use land detector to stop stabilizing in stabilize

This commit is contained in:
Jonathan Challinger 2014-07-08 01:34:19 -07:00 committed by Randy Mackay
parent 5230684bad
commit c07ded9a79
1 changed files with 3 additions and 9 deletions
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12
ArduCopter/control_stabilize.pde
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@ -44,16 +44,10 @@ static void stabilize_run()
// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
// reset target lean angles and heading while landed
if (ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
}else{
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// body-frame rate controller is run directly from 100hz loop
}
// body-frame rate controller is run directly from 100hz loop
// output pilot's throttle
attitude_control.set_throttle_out(pilot_throttle_scaled, true);