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Code Issues Releases Activity

Manual Control: Drop the AHRSSettings dependency to bring task memory down

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2574 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2011-01-24 07:52:03 +00:00 committed by peabody124
parent 23599ee59f
commit cef46edafd
1 changed files with 0 additions and 10 deletions
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10
flight/Modules/ManualControl/manualcontrol.c
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@ -40,7 +40,6 @@
#include "manualcontrolcommand.h"
#include "actuatordesired.h"
#include "attitudedesired.h"
#include "ahrssettings.h"
#include "flighttelemetrystats.h"
// Private constants
@ -411,15 +410,6 @@ static void manualControlTask(void *parameters)
attitude.Throttle = (cmd.Throttle < 0) ? -1 : cmd.Throttle;
AttitudeDesiredSet(&attitude);
}
if (cmd.Accessory3 < -.5) { //TODO: Make what happens here depend on GCS
AHRSSettingsData attitudeSettings;
AHRSSettingsGet(&attitudeSettings);
// Hard coding a maximum bias of 15 for now... maybe mistake
attitudeSettings.PitchBias = cmd.Accessory1 * 15;
attitudeSettings.RollBias = cmd.Accessory2 * 15;
AHRSSettingsSet(&attitudeSettings);
}
}
}