From e17c8705ba137bdfddd778db4bdc767efb856ade Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 31 Dec 2011 09:45:25 -0800 Subject: [PATCH] Loiter I reset --- ArduCopter/ArduCopter.pde | 2 -- ArduCopter/Attitude.pde | 8 ++++---- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index c82935fb1c..7b26e8d9bf 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1391,8 +1391,6 @@ static void update_navigation() // reset LOITER to current position next_WP = current_loc; - // clear Loiter Iterms - //reset_nav(); }else{ // this is also set by GPS in update_nav wp_control = LOITER_MODE; diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index 847e46ae39..2501554847 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -239,12 +239,12 @@ static void reset_nav(void) nav_throttle = 0; invalid_throttle = true; - //g.pi_nav_lat.reset_I(); - //g.pi_nav_lon.reset_I(); + g.pi_nav_lat.reset_I(); + g.pi_nav_lon.reset_I(); // considering not reseting wind control - //g.pi_loiter_lat.reset_I(); - //g.pi_loiter_lon.reset_I(); + g.pi_loiter_lat.reset_I(); + g.pi_loiter_lon.reset_I(); circle_angle = 0; crosstrack_error = 0;