aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: integrate replacement of timers with set_dt

Browse Source
This commit is contained in:
Randy Mackay 2013-12-16 16:24:15 +09:00 committed by Andrew Tridgell
parent c8e277703d
commit 1fdfa751e6
1 changed files with 4 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduCopter/control_stabilize.pde
View File

@ -21,10 +21,9 @@ static void acro_run()
attitude_control.rate_stab_bf_targets(rate_target);
// convert stabilize rates to regular rates
// To-Do: replace G_Dt below
attitude_control.rate_stab_bf_to_rate_bf_roll(G_Dt);
attitude_control.rate_stab_bf_to_rate_bf_pitch(G_Dt);
attitude_control.rate_stab_bf_to_rate_bf_yaw(G_Dt);
attitude_control.rate_stab_bf_to_rate_bf_roll();
attitude_control.rate_stab_bf_to_rate_bf_pitch();
attitude_control.rate_stab_bf_to_rate_bf_yaw();
// call get_acro_level_rates() here?
@ -66,7 +65,7 @@ static void stabilize_run()
// convert earth-frame stabilize rate to regular rate target
// To-Do: replace G_Dt below
attitude_control.rate_stab_ef_to_rate_ef_yaw(G_Dt);
attitude_control.rate_stab_ef_to_rate_ef_yaw();
// convert earth-frame rates to body-frame rates
attitude_control.rate_ef_targets_to_bf();