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Copter: sport - fix call to relax_alt_hold_controller

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Randy Mackay 2016-07-12 21:46:35 +09:00
parent 5061b29031
commit 53f0216269
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/control_sport.cpp
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@ -36,7 +36,7 @@ void Copter::sport_run()
if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) { if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover()); pos_control.relax_alt_hold_controllers(0.0f);
return; return;
} }
@ -99,7 +99,7 @@ void Copter::sport_run()
} }
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt); attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover()); pos_control.relax_alt_hold_controllers(0.0f);
}else{ }else{
// set motors to full range // set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);