Merge pull request #367 from Kenny9999/development

revert wooden integral error zeroed flight mode switch
AeroQuad · Jan 20, 2013 · fd4de7f · fd4de7f
2 parents 9eee41e + af64de4
commit fd4de7f
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Showing 3 changed files with 13 additions and 19 deletions.
diff --git a/AeroQuad/AeroQuad.h b/AeroQuad/AeroQuad.h
@@ -63,7 +63,6 @@ int testCommand = 1000;
 #define THROTTLE_ADJUST_TASK_SPEED TASK_50HZ
 
 byte flightMode = RATE_FLIGHT_MODE;
-byte previousFlightMode = RATE_FLIGHT_MODE;
 unsigned long frameCounter = 0; // main loop executive frame counter
 int minArmedThrottle; // initial value configured by user
 

diff --git a/AeroQuad/FlightCommandProcessor.h b/AeroQuad/FlightCommandProcessor.h
@@ -257,14 +257,9 @@ void readPilotCommands() {
     // Check Mode switch for Acro or Stable
     if (receiverCommand[MODE] > 1500) {
         flightMode = ATTITUDE_FLIGHT_MODE;
-        previousFlightMode = ATTITUDE_FLIGHT_MODE;
     }
     else {
         flightMode = RATE_FLIGHT_MODE;
-        if (previousFlightMode != RATE_FLIGHT_MODE) { // reset integral error when switching from attitude to rate mode
-            zeroIntegralError();
-            previousFlightMode = RATE_FLIGHT_MODE;
-        }
     }
 
 

diff --git a/AeroQuad/SerialCom.h b/AeroQuad/SerialCom.h
@@ -681,9 +681,9 @@ void sendSerialTelemetry() {
       PrintValueComma((float)batteryData[0].voltage/100.0); // voltage internally stored at 10mV:s
       #if defined (BM_EXTENDED)
         PrintValueComma((float)batteryData[0].current/100.0);
-		PrintValueComma((float)batteryData[0].usedCapacity/1000.0);
-	  #else
-		PrintDummyValues(2);
+        PrintValueComma((float)batteryData[0].usedCapacity/1000.0);
+      #else
+        PrintDummyValues(2);
       #endif
     #else
       PrintDummyValues(3);
@@ -1017,15 +1017,15 @@ void reportVehicleState() {
   void updateSlowTelemetry100Hz() {
 
     if (slowTelemetryByte < TELEMETRY_MSGSIZE_ECC ) {
-#ifdef SoftModem
-      if (softmodemFreeToSend()) {
-	softmodemSendByte(telemetryBuffer.bytes[slowTelemetryByte]);
-	slowTelemetryByte++;
-      }
-#else
-      Serial2.write(telemetryBuffer.bytes[slowTelemetryByte]);
-      slowTelemetryByte++;
-#endif
+      #ifdef SoftModem
+        if (softmodemFreeToSend()) {
+	  softmodemSendByte(telemetryBuffer.bytes[slowTelemetryByte]);
+	  slowTelemetryByte++;
+        }
+      #else
+        Serial2.write(telemetryBuffer.bytes[slowTelemetryByte]);
+        slowTelemetryByte++;
+      #endif
     }
     else {
       slowTelemetryByte=255;
@@ -1088,4 +1088,4 @@ void reportVehicleState() {
   }
 #endif // SlowTelemetry
 
-#endif // _AQ_SERIAL_COMM_
+#endif // _AQ_SERIAL_COMM_