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Copter: remove landing checks in loiter controller

This commit is contained in:
Randy Mackay 2013-07-28 12:07:00 +09:00
parent 8eefbdce44
commit da37089dc2
1 changed files with 6 additions and 11 deletions
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7
ArduCopter/ArduCopter.pde
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@ -1750,18 +1750,13 @@ void update_roll_pitch_mode(void)
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
// if landed simply keep the copter level
if (ap.land_complete) {
nav_roll = ahrs.roll_sensor;
nav_pitch = ahrs.pitch_sensor;
}else{
// update loiter target from user controls
wp_nav.move_loiter_target(control_roll, control_pitch,0.01f);
// copy latest output from nav controller to stabilize controller
nav_roll = wp_nav.get_desired_roll();
nav_pitch = wp_nav.get_desired_pitch();
}
get_stabilize_roll(nav_roll);
get_stabilize_pitch(nav_pitch);
break;