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[rotorcraft] also call stabilization_attitude_enter if previous mode was GUIDANCE_H_MODE_KILL

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This commit is contained in:
Felix Ruess
2013-09-02 13:45:40 +02:00
parent 529c676123
commit 29da4ede96
1 changed files with 9 additions and 6 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+9 -6
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@@ -140,8 +140,9 @@ void guidance_h_mode_changed(uint8_t new_mode) {
case GUIDANCE_H_MODE_FORWARD:
case GUIDANCE_H_MODE_ATTITUDE:
/* reset attitude stabilization if previous mode was not using it */
if (guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT ||
guidance_h_mode == GUIDANCE_H_MODE_RATE) {
if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
guidance_h_mode == GUIDANCE_H_MODE_RATE ||
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
stabilization_attitude_enter();
}
break;
@@ -149,8 +150,9 @@ void guidance_h_mode_changed(uint8_t new_mode) {
case GUIDANCE_H_MODE_HOVER:
guidance_h_hover_enter();
/* reset attitude stabilization if previous mode was not using it */
if (guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT ||
guidance_h_mode == GUIDANCE_H_MODE_RATE) {
if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
guidance_h_mode == GUIDANCE_H_MODE_RATE ||
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
stabilization_attitude_enter();
}
break;
@@ -158,8 +160,9 @@ void guidance_h_mode_changed(uint8_t new_mode) {
case GUIDANCE_H_MODE_NAV:
guidance_h_nav_enter();
/* reset attitude stabilization if previous mode was not using it */
if (guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT ||
guidance_h_mode == GUIDANCE_H_MODE_RATE) {
if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
guidance_h_mode == GUIDANCE_H_MODE_RATE ||
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
stabilization_attitude_enter();
}
break;