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Plane: always instantiate AC_AttitudeControl_TS

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Mark Whitehorn 2020-11-29 08:46:01 -07:00 committed by Andrew Tridgell
parent 24508f08dc
commit dd7a860f23
1 changed files with 1 additions and 6 deletions
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7
ArduPlane/quadplane.cpp
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@ -709,12 +709,7 @@ bool QuadPlane::setup(void)
AP_BoardConfig::config_error("Unable to allocate %s", "ahrs_view"); AP_BoardConfig::config_error("Unable to allocate %s", "ahrs_view");
} }
if (((frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) || (tailsitter.motor_mask != 0)) attitude_control = new AC_AttitudeControl_TS(*ahrs_view, aparm, *motors, loop_delta_t);
&& (tilt.tilt_type != TILT_TYPE_BICOPTER)) {
attitude_control = new AC_AttitudeControl_TS(*ahrs_view, aparm, *motors, loop_delta_t);
} else {
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, loop_delta_t);
}
if (!attitude_control) { if (!attitude_control) {
AP_BoardConfig::config_error("Unable to allocate %s", "attitude_control"); AP_BoardConfig::config_error("Unable to allocate %s", "attitude_control");
} }