From aeaff72e140adef6c5251935bf6c231701e8b06c Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Sat, 4 May 2019 08:52:53 -0600 Subject: [PATCH] Plane: fix acro stabilization check --- ArduPlane/quadplane.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 3c51606d52..3e57c8223c 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1869,11 +1869,6 @@ void QuadPlane::control_run(void) switch (plane.control_mode->mode_number()) { case Mode::Number::QACRO: control_qacro(); - if (!is_tailsitter()) { - // also stabilize using fixed wing surfaces - plane.stabilize_acro(plane.get_speed_scaler()); - } - return; break; case Mode::Number::QSTABILIZE: control_stabilize(); @@ -1896,10 +1891,15 @@ void QuadPlane::control_run(void) default: break; } + // we also stabilize using fixed wing surfaces float speed_scaler = plane.get_speed_scaler(); - plane.stabilize_roll(speed_scaler); - plane.stabilize_pitch(speed_scaler); + if (plane.control_mode->mode_number() == Mode::Number::QACRO) { + plane.stabilize_acro(speed_scaler); + } else { + plane.stabilize_roll(speed_scaler); + plane.stabilize_pitch(speed_scaler); + } } /*