mirror of https://github.com/ArduPilot/ardupilot
HIL: don't access dcm functions in HIL mode
the dcm is not valid in HIL_MODE_ATTITUDE git-svn-id: https://arducopter.googlecode.com/svn/trunk@2894 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -314,8 +314,10 @@ static void startup_ground(void)
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//*/
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//*/
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// setup DCM for copters:
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// setup DCM for copters:
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#if HIL_MODE != HIL_MODE_ATTITUDE
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dcm.kp_roll_pitch(0.12); // higher for quads
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dcm.kp_roll_pitch(0.12); // higher for quads
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dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate
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dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate
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#endif
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//dcm.kp_yaw(0.02);
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//dcm.kp_yaw(0.02);
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//dcm.ki_yaw(0);
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//dcm.ki_yaw(0);
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