From 1ef9fc51d6da738fc13524189958195deb0d6a97 Mon Sep 17 00:00:00 2001 From: a*morale Date: Tue, 14 Jul 2015 01:59:59 +0200 Subject: [PATCH] LP-5 - exclude AH from outerloop --- flight/modules/Stabilization/outerloop.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/flight/modules/Stabilization/outerloop.c b/flight/modules/Stabilization/outerloop.c index 0517892ff..b2265abf6 100644 --- a/flight/modules/Stabilization/outerloop.c +++ b/flight/modules/Stabilization/outerloop.c @@ -105,8 +105,9 @@ static void stabilizationOuterloopTask() int t; float dT = PIOS_DELTATIME_GetAverageSeconds(&timeval); StabilizationStatusOuterLoopOptions newThrustMode = StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST]; - bool reinit = (newThrustMode != previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST]); + +#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES // Trigger a disable message to the alt hold on reinit to prevent that loop from running when not in use. if (reinit) { if (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE || @@ -117,17 +118,20 @@ static void stabilizationOuterloopTask() } } } +#endif // update previous mode previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = newThrustMode; // calculate the thrust desired switch (newThrustMode) { +#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE: rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEHOLD, reinit); break; case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO: rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEVARIO, reinit); break; +#endif case STABILIZATIONSTATUS_OUTERLOOP_DIRECT: case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS: default: