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Code Issues Releases Activity

Fix mistake from previous merge with duplicate the STABILIZATIONOMDE_ATTITUDE

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case
This commit is contained in:
James Cotton 2012-08-02 01:20:57 -05:00
parent 8565dfbcc3
commit 924c91ce1e
1 changed files with 0 additions and 13 deletions
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13
flight/Modules/Stabilization/stabilization.c
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@ -322,19 +322,6 @@ static void stabilizationTask(void* parameters)
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[i];
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
if (reinit)
pids[PID_RATE_ROLL + i].iAccumulator = 0;