From d380e6b4d3e02a1549fbf7921940b32158f868af Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 18 Jan 2014 12:00:30 +0900 Subject: [PATCH] Copter: integrate add ref to AC_Pos_Control from WP_Nav --- ArduCopter/ArduCopter.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 295a120d2b..26039a8026 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -752,7 +752,7 @@ AC_AttitudeControl attitude_control(ahrs, ins, aparm, motors, g.pi_stabilize_rol AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control, g.pi_alt_hold, g.pid_throttle_rate, g.pid_throttle_accel, g.pi_loiter_lat, g.pi_loiter_lon, g.pid_loiter_rate_lat, g.pid_loiter_rate_lon); -static AC_WPNav wp_nav(&inertial_nav, &ahrs, &g.pi_loiter_lat, &g.pi_loiter_lon, &g.pid_loiter_rate_lat, &g.pid_loiter_rate_lon); +static AC_WPNav wp_nav(&inertial_nav, &ahrs, pos_control, &g.pi_loiter_lat, &g.pi_loiter_lon, &g.pid_loiter_rate_lat, &g.pid_loiter_rate_lon); //////////////////////////////////////////////////////////////////////////////// // Performance monitoring