From 6ce957c02a6b27700be89736a14ea0b4128cd96b Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Tue, 20 May 2014 02:22:25 -0700
Subject: [PATCH] Copter: Fix broken loiter
---
ArduCopter/ArduCopter.pde | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 91559e372..bae2e3865 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1689,10 +1689,6 @@ void update_roll_pitch_mode(void)
// apply SIMPLE mode transform
update_simple_mode();
- // copy user input for reporting purposes
- control_roll = g.rc_1.control_in;
- control_pitch = g.rc_2.control_in;
-
if(failsafe.radio) {
// don't allow loiter target to move during failsafe
wp_nav.move_loiter_target(0.0f, 0.0f, 0.01f);
@@ -1701,6 +1697,10 @@ void update_roll_pitch_mode(void)
wp_nav.move_loiter_target(g.rc_1.control_in, g.rc_2.control_in, 0.01f);
}
+ // copy latest output from nav controller to stabilize controller
+ control_roll = wp_nav.get_desired_roll();
+ control_pitch = wp_nav.get_desired_pitch();
+
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
break;
--
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