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Copter: tidy zero_throttle_and_relax (NFC)

This commit is contained in:
Peter Barker 2017-12-22 10:15:14 +11:00 committed by Francisco Ferreira
parent 71ad1b5815
commit d1201e4776
1 changed files with 7 additions and 7 deletions
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14
ArduCopter/mode.cpp
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@ -264,13 +264,13 @@ bool Copter::Mode::takeoff_triggered(const float target_climb_rate) const
void Copter::Mode::zero_throttle_and_relax_ac()
{
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
attitude_control->set_throttle_out(0,false,g.throttle_filt);
#if FRAME_CONFIG == HELI_FRAME
// Helicopters always stabilize roll/pitch/yaw
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f, get_smoothing_gain());
attitude_control->set_throttle_out(0.0f, false, g.throttle_filt);
#else
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out_unstabilized(0.0f, true, g.throttle_filt);
#endif
}