Line data    Source code

       1             : #include "Copter.h"
       2             : 
       3             : // Run standby functions at approximately 100 Hz to limit maximum variable build up
       4             : //
       5             : // When standby is active:
       6             : //      all I terms are continually reset
       7             : //      heading error is reset to zero
       8             : //      position errors are reset to zero
       9             : //      crash_check is disabled
      10             : //      thrust_loss_check is disabled
      11             : //      parachute_check is disabled
      12             : //      hover throttle learn is disabled
      13             : //      and landing detection is disabled.
      14     7602701 : void Copter::standby_update()
      15             : {
      16     7602701 :     if (!standby_active) {
      17     7602701 :         return;
      18             :     }
      19             : 
      20           0 :     attitude_control->reset_rate_controller_I_terms();
      21           0 :     attitude_control->reset_yaw_target_and_rate();
      22           0 :     pos_control->NED_standby_reset();
      23             : }