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Copter: AltHold stabilizes roll and pitch while landed

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This commit is contained in:
Randy Mackay 2016-05-05 21:55:37 +09:00
parent 3ead74c4be
commit 932cd907d4
1 changed files with 4 additions and 6 deletions
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10
ArduCopter/control_althold.cpp
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@ -138,20 +138,18 @@ void Copter::althold_run()
case AltHold_Landed:
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
#if FRAME_CONFIG == HELI_FRAME
attitude_control.set_yaw_target_to_current_heading();
#endif
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
#else // Multicopter stabilize roll/pitch/yaw when landed
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
// if throttle zero reset attitude and exit immediately
// set motors to spin-when-armed if throttle at zero, otherwise full range
if (ap.throttle_zero) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
}else{
} else {
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;