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fix rate mode

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This commit is contained in:
Gautier Hattenberger
2011-09-28 15:48:04 +02:00
parent 5588e1deed
commit 0d6a13e000
1 changed files with 3 additions and 0 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+3
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@@ -135,6 +135,9 @@ void stabilization_rate_read_rc( void ) {
stabilization_rate_sp.r = (int32_t)-radio_control.values[RADIO_YAW] * STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
else
stabilization_rate_sp.r = 0;
// Setpoint at ref resolution
INT_RATES_LSHIFT(stabilization_rate_sp, stabilization_rate_sp, REF_FRAC - INT32_RATE_FRAC);
}
void stabilization_rate_enter(void) {