fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 02:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

delete RATTITUDE flight mode

Browse Source
This commit is contained in:
Daniel Agar
2021-03-03 19:27:56 -05:00
parent d37510a43d
commit bb12fce66c
26 changed files with 50 additions and 222 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_rate_control/MulticopterRateControl.cpp
-8
View File
@@ -172,14 +172,6 @@ MulticopterRateControl::Run()
if (!_v_control_mode.flag_control_attitude_enabled) {
manual_rate_sp = true;
}
// Check if we are in rattitude mode and the pilot is within the center threshold on pitch and roll
// if true then use published rate setpoint, otherwise generate from manual_control_setpoint (like acro)
if (_v_control_mode.flag_control_rattitude_enabled) {
manual_rate_sp =
(fabsf(_manual_control_setpoint.y) > _param_mc_ratt_th.get()) ||
(fabsf(_manual_control_setpoint.x) > _param_mc_ratt_th.get());
}
}
if (manual_rate_sp) {