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23 lines
676 B
23 lines
676 B
#include "Copter.h" |
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// Run standby functions at approximately 100 Hz to limit maximum variable build up |
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// |
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// When standby is active: |
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// all I terms are continually reset |
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// heading error is reset to zero |
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// position errors are reset to zero |
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// crash_check is disabled |
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// thrust_loss_check is disabled |
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// parachute_check is disabled |
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// hover throttle learn is disabled |
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// and landing detection is disabled. |
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void Copter::standby_update() |
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{ |
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if (!standby_active) { |
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return; |
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} |
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attitude_control->reset_rate_controller_I_terms(); |
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attitude_control->reset_yaw_target_and_rate(); |
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pos_control->standby_xyz_reset(); |
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}
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