ArduCopter/standby.cpp

   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 void Copter::standby_update()
  15 {
  16     if (!standby_active) {
  17         return;
  18     }
  19
  20     attitude_control->reset_rate_controller_I_terms();
  21     attitude_control->reset_yaw_target_and_rate();
  22     pos_control->standby_xyz_reset();
  23 }