Copter: integrate heli_control_stabilize

11 years ago · 922dff0514
2 changed files with 10 additions and 2 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -1452,7 +1452,11 @@ static void update_flight_mode()
				@@ -1452,7 +1452,11 @@ static void update_flight_mode()
            break;

        case STABILIZE:
-            stabilize_run();
+            #if FRAME_CONFIG == HELI_FRAME
+                heli_stabilize_run();
+            #else
+                stabilize_run();
+            #endif
            break;

        case ALT_HOLD:
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@ -391,7 +391,11 @@ static bool set_mode(uint8_t mode)
				@@ -391,7 +391,11 @@ static bool set_mode(uint8_t mode)
            break;

        case STABILIZE:
-            success = stabilize_init(ignore_checks);
+            #if FRAME_CONFIG == HELI_FRAME
+                success = heli_stabilize_init(ignore_checks);
+            #else
+                success = stabilize_init(ignore_checks);
+            #endif
            break;

        case ALT_HOLD: