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Plane: update for new APM_Control API

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This commit is contained in:
Andrew Tridgell 2013-07-13 20:28:07 +10:00
parent cc778a68ae
commit b37f79d307
1 changed files with 3 additions and 2 deletions
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5
ArduPlane/Attitude.pde
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@ -73,7 +73,8 @@ static void stabilize_roll(float speed_scaler)
if (ahrs.roll_sensor < 0) nav_roll_cd -= 36000;
}
channel_roll->servo_out = g.rollController.get_servo_out(nav_roll_cd, speed_scaler,
channel_roll->servo_out = g.rollController.get_servo_out(nav_roll_cd - ahrs.roll_sensor,
speed_scaler,
control_mode == STABILIZE,
aparm.flybywire_airspeed_min);
}
@ -86,7 +87,7 @@ static void stabilize_roll(float speed_scaler)
static void stabilize_pitch(float speed_scaler)
{
int32_t demanded_pitch = nav_pitch_cd + g.pitch_trim_cd + channel_throttle->servo_out * g.kff_throttle_to_pitch;
channel_pitch->servo_out = g.pitchController.get_servo_out(demanded_pitch,
channel_pitch->servo_out = g.pitchController.get_servo_out(demanded_pitch - ahrs.pitch_sensor,
speed_scaler,
control_mode == STABILIZE,
aparm.flybywire_airspeed_min,