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Plane: fixed FBWB aileron control

This commit is contained in:
Andrew Tridgell 2013-07-16 09:43:51 +10:00
parent 2ee43a694c
commit e27dd14bcc
1 changed files with 3 additions and 4 deletions
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7
ArduPlane/ArduPlane.pde
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@ -1167,7 +1167,7 @@ static void update_flight_mode(void)
case FLY_BY_WIRE_B:
// Thanks to Yury MonZon for the altitude limit code!
calc_nav_roll();
nav_roll_cd = channel_roll->norm_input() * g.roll_limit_cd;
update_fbwb_speed_height();
break;
@ -1177,14 +1177,13 @@ static void update_flight_mode(void)
roll when heading is locked. Heading becomes unlocked on
any aileron or rudder input
*/
if (control_mode == CRUISE &&
(channel_roll->control_in != 0 ||
if ((channel_roll->control_in != 0 ||
channel_rudder->control_in != 0)) {
cruise_state.locked_heading = false;
cruise_state.lock_timer_ms = 0;
}
if (control_mode != CRUISE || !cruise_state.locked_heading) {
if (!cruise_state.locked_heading) {
nav_roll_cd = channel_roll->norm_input() * g.roll_limit_cd;
} else {
calc_nav_roll();