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delete RATTITUDE flight mode

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This commit is contained in:
Daniel Agar
2021-03-09 10:47:00 -05:00
parent d37510a43d
commit bb12fce66c
26 changed files with 50 additions and 222 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
-8
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@@ -143,14 +143,6 @@ FixedwingAttitudeControl::vehicle_manual_poll()
// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {
// Check if we are in rattitude mode and the pilot is above the threshold on pitch
if (_vcontrol_mode.flag_control_rattitude_enabled) {
if (fabsf(_manual_control_setpoint.y) > _param_fw_ratt_th.get()
|| fabsf(_manual_control_setpoint.x) > _param_fw_ratt_th.get()) {
_vcontrol_mode.flag_control_attitude_enabled = false;
}
}
if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
if (_vcontrol_mode.flag_control_attitude_enabled) {