From 50ed363330d5f5288404c3a96f233bee84508e04 Mon Sep 17 00:00:00 2001 From: Sambas Date: Thu, 7 Jun 2012 17:42:51 +0300 Subject: [PATCH] Axislock as default for VtolPathFollower --- flight/Modules/VtolPathFollower/vtolpathfollower.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/Modules/VtolPathFollower/vtolpathfollower.c b/flight/Modules/VtolPathFollower/vtolpathfollower.c index 859bfeb46..219f91aac 100644 --- a/flight/Modules/VtolPathFollower/vtolpathfollower.c +++ b/flight/Modules/VtolPathFollower/vtolpathfollower.c @@ -403,7 +403,7 @@ static void updateFixedAttitude(float* attitude) stabDesired.Throttle = attitude[3]; stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; - stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE; + stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK; StabilizationDesiredSet(&stabDesired); } @@ -533,7 +533,7 @@ static void updateVtolDesiredAttitude() stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; - stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE; + stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK; StabilizationDesiredSet(&stabDesired); }