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@ -103,8 +103,8 @@ void Copter::auto_takeoff_start(float final_alt_above_home)
@@ -103,8 +103,8 @@ void Copter::auto_takeoff_start(float final_alt_above_home)
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// initialise yaw
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set_auto_yaw_mode(AUTO_YAW_HOLD); |
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// tell motors to do a slow start
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motors.slow_start(true); |
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// clear i term when we're taking off
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set_throttle_takeoff(); |
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} |
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// auto_takeoff_run - takeoff in auto mode
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@ -123,8 +123,8 @@ void Copter::auto_takeoff_run()
@@ -123,8 +123,8 @@ void Copter::auto_takeoff_run()
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// reset attitude control targets
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
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#endif |
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// tell motors to do a slow start
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motors.slow_start(true); |
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// clear i term when we're taking off
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set_throttle_takeoff(); |
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return; |
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} |
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@ -175,8 +175,8 @@ void Copter::auto_wp_run()
@@ -175,8 +175,8 @@ void Copter::auto_wp_run()
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#else // Multirotors do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
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#endif |
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// tell motors to do a slow start
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motors.slow_start(true); |
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// clear i term when we're taking off
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set_throttle_takeoff(); |
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return; |
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} |
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@ -239,8 +239,8 @@ void Copter::auto_spline_run()
@@ -239,8 +239,8 @@ void Copter::auto_spline_run()
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#else // Multirotors do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
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#endif |
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// tell motors to do a slow start
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motors.slow_start(true); |
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// clear i term when we're taking off
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set_throttle_takeoff(); |
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return; |
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} |
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