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OP-1848 build fixes after merge with ratetrainer

This commit is contained in:
abeck70 2015-05-05 21:52:04 +10:00
parent 43d193cceb
commit dd1c6c7600

View File

@ -300,26 +300,25 @@ static void stabilizationOuterloopTask()
break;
}
}
}
RateDesiredSet(&rateDesired);
{
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);
if (armed != FLIGHTSTATUS_ARMED_ARMED ||
((stabSettings.settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE) && throttleDesired < 0)) {
// Force all axes to reinitialize when engaged
for (t = 0; t < AXES; t++) {
previous_mode[t] = 255;
RateDesiredSet(&rateDesired);
{
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);
if (armed != FLIGHTSTATUS_ARMED_ARMED ||
((stabSettings.settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE) && throttleDesired < 0)) {
// Force all axes to reinitialize when engaged
for (t = 0; t < AXES; t++) {
previous_mode[t] = 255;
}
}
}
}
// update cruisecontrol based on attitude
cruisecontrol_compute_factor(&attitudeState, rateDesired.Thrust);
stabSettings.monitor.rateupdates = 0;
cruisecontrol_compute_factor(&attitudeState, rateDesired.Thrust);
stabSettings.monitor.rateupdates = 0;
}