From a79ad5489c307020ba1c0c15959c3a4880778986 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 15 Mar 2022 20:07:13 +0900
Subject: [PATCH] Rover: balance bot stands in acro with no position estimate

---
 Rover/mode_acro.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Rover/mode_acro.cpp b/Rover/mode_acro.cpp
index 7e1e589402..5379be5fe4 100644
--- a/Rover/mode_acro.cpp
+++ b/Rover/mode_acro.cpp
@@ -9,6 +9,12 @@ void ModeAcro::update()
         float desired_throttle;
         // convert pilot stick input into desired steering and throttle
         get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
+
+        // if vehicle is balance bot, calculate actual throttle required for balancing
+        if (rover.is_balancebot()) {
+            rover.balancebot_pitch_control(desired_throttle);
+        }
+
         // no valid speed, just use the provided throttle
         g2.motors.set_throttle(desired_throttle);
     } else {