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group controlRateConfig settings by function

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This commit is contained in:
Michel Pastor 2018-01-24 20:27:14 +01:00
parent 9c28150281
commit fc723121b2
14 changed files with 145 additions and 126 deletions
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2
src/main/navigation/navigation_fixedwing.c
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@ -524,7 +524,7 @@ void applyFixedWingEmergencyLandingController(void)
// FIXME: Use altitude controller if available (similar to MC code)
rcCommand[ROLL] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_roll_angle, pidProfile()->max_angle_inclination[FD_ROLL]);
rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
rcCommand[YAW] = -pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->rates[FD_YAW]);
rcCommand[YAW] = -pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->stabilized.rates[FD_YAW]);
rcCommand[THROTTLE] = failsafeConfig()->failsafe_throttle;
}