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Copter: autotune restore orig pids if user changes flight mode

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This commit is contained in:
Randy Mackay 2013-10-17 10:56:53 +09:00
parent f13b45467f
commit c59dee045c
1 changed files with 12 additions and 0 deletions
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12
ArduCopter/ArduCopter.pde
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@ -1602,6 +1602,7 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
// if initialisation has been successful update the yaw mode // if initialisation has been successful update the yaw mode
if( roll_pitch_initialised ) { if( roll_pitch_initialised ) {
exit_roll_pitch_mode(roll_pitch_mode);
roll_pitch_mode = new_roll_pitch_mode; roll_pitch_mode = new_roll_pitch_mode;
} }
@ -1609,6 +1610,17 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
return roll_pitch_initialised; return roll_pitch_initialised;
} }
// exit_roll_pitch_mode - peforms any code required when exiting the current roll-pitch mode
void exit_roll_pitch_mode(uint8_t old_roll_pitch_mode)
{
#if AUTOTUNE == ENABLED
if (old_roll_pitch_mode == ROLL_PITCH_AUTOTUNE) {
auto_tune_stop();
}
#endif
}
// update_roll_pitch_mode - run high level roll and pitch controllers // update_roll_pitch_mode - run high level roll and pitch controllers
// 100hz update rate // 100hz update rate
void update_roll_pitch_mode(void) void update_roll_pitch_mode(void)