From 922dff05142dbc2a7cd098c5757e014eae9d8e8f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 30 Jan 2014 17:40:55 +0900
Subject: [PATCH] Copter: integrate heli_control_stabilize

---
 ArduCopter/ArduCopter.pde | 6 +++++-
 ArduCopter/system.pde     | 6 +++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index ab5abb4977..c3e3787be7 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1452,7 +1452,11 @@ static void update_flight_mode()
             break;
 
         case STABILIZE:
-            stabilize_run();
+            #if FRAME_CONFIG == HELI_FRAME
+                heli_stabilize_run();
+            #else
+                stabilize_run();
+            #endif
             break;
 
         case ALT_HOLD:
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index ac50ea2772..0ebcc56920 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -391,7 +391,11 @@ static bool set_mode(uint8_t mode)
             break;
 
         case STABILIZE:
-            success = stabilize_init(ignore_checks);
+            #if FRAME_CONFIG == HELI_FRAME
+                success = heli_stabilize_init(ignore_checks);
+            #else
+                success = stabilize_init(ignore_checks);
+            #endif
             break;
 
         case ALT_HOLD: