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Copter: correct auto_run

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Randy Mackay 2013-12-06 21:54:50 +09:00 committed by Andrew Tridgell
parent 1cf065e1df
commit c2ca5c46b8
1 changed files with 7 additions and 11 deletions
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18
ArduCopter/control_stabilize.pde
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@ -61,20 +61,16 @@ static void auto_run()
{
Vector3f angle_target;
// user input, although ignored is put into control_roll and pitch for reporting purposes
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
// copy latest output from nav controller to stabilize controller
angle_target.x = wp_nav.get_desired_roll();
angle_target.y = wp_nav.get_desired_pitch();
// To-Do: handle yaw
angle_target.z = control_yaw;
control_roll = wp_nav.get_desired_roll();
control_pitch = wp_nav.get_desired_pitch();
// copy angle targets for reporting purposes
control_roll = angle_target.x;
control_pitch = angle_target.y;
angle_target.x = control_roll;
angle_target.y = control_pitch;
// To-Do: handle pilot input for yaw and different methods to update yaw (ROI, face next wp)
angle_target.z = control_yaw;
// To-Do: shorten below by moving these often used steps into a single function in the AC_AttitudeControl lib