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Toy Mode Yaw Rate fix

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This commit is contained in:
Jason Short 2012-07-09 13:12:14 -07:00
parent acfd263bab
commit ab603c7fcf
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/Attitude.pde
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@ -713,11 +713,11 @@ void roll_pitch_toy()
//g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); //g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
if(g.rc_1.control_in != 0){ if(g.rc_1.control_in != 0){
g.rc_4.servo_out = get_acro_yaw(yaw_rate); g.rc_4.servo_out = get_rate_yaw(yaw_rate);
yaw_stopped = false; yaw_stopped = false;
yaw_timer = 150; yaw_timer = 150;
}else if (!yaw_stopped){ }else if (!yaw_stopped){
g.rc_4.servo_out = get_acro_yaw(0); g.rc_4.servo_out = get_rate_yaw(0);
yaw_timer--; yaw_timer--;
if(yaw_timer == 0){ if(yaw_timer == 0){
yaw_stopped = true; yaw_stopped = true;