ArduCopter: InertialNav time constant CH6 tuning changed to only update enabled axis

12 years ago · 99b32a39c4
1 changed files with 4 additions and 2 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -2158,12 +2158,14 @@ static void tuning(){
				@@ -2158,12 +2158,14 @@ static void tuning(){
        break;
 #endif

-#if INERTIAL_NAV_XY == ENABLED || INERTIAL_NAV_Z == ENABLED
    case CH6_INAV_TC:
+#if INERTIAL_NAV_XY == ENABLED
        inertial_nav.set_time_constant_xy(tuning_value);
+#endif
+#if INERTIAL_NAV_Z == ENABLED
        inertial_nav.set_time_constant_z(tuning_value);
-        break;
 #endif
+        break;

    case CH6_THR_ACCEL_KP:
        g.pid_throttle_accel.kP(tuning_value);