Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: autotune restore orig pids if user changes flight mode

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduCopter/ArduCopter.pde
View File

@ -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( roll_pitch_initialised ) {
exit_roll_pitch_mode(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;
}
// 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
// 100hz update rate
void update_roll_pitch_mode(void)