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Copter: integrate add ref to AC_Pos_Control from WP_Nav

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Randy Mackay 2014-01-18 12:00:30 +09:00 committed by Andrew Tridgell
parent aaa62eeb28
commit d380e6b4d3
1 changed files with 1 additions and 1 deletions
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ArduCopter/ArduCopter.pde
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@ -752,7 +752,7 @@ AC_AttitudeControl attitude_control(ahrs, ins, aparm, motors, g.pi_stabilize_rol
AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control, AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control,
g.pi_alt_hold, g.pid_throttle_rate, g.pid_throttle_accel, g.pi_alt_hold, g.pid_throttle_rate, g.pid_throttle_accel,
g.pi_loiter_lat, g.pi_loiter_lon, g.pid_loiter_rate_lat, g.pid_loiter_rate_lon); g.pi_loiter_lat, g.pi_loiter_lon, g.pid_loiter_rate_lat, g.pid_loiter_rate_lon);
static AC_WPNav wp_nav(&inertial_nav, &ahrs, &g.pi_loiter_lat, &g.pi_loiter_lon, &g.pid_loiter_rate_lat, &g.pid_loiter_rate_lon); static AC_WPNav wp_nav(&inertial_nav, &ahrs, pos_control, &g.pi_loiter_lat, &g.pi_loiter_lon, &g.pid_loiter_rate_lat, &g.pid_loiter_rate_lon);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Performance monitoring // Performance monitoring