Copter: reset target modifiers at loop rate

don't compile in support on tradheli
ArduPilot · Aug 1, 2024 · 27113dd · 27113dd
1 parent a329952
commit 27113dd
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
@@ -5,7 +5,7 @@
  *  Attitude Rate controllers and timing
  ****************************************************************/
 
-#if AP_INERTIALSENSOR_RATE_LOOP_WINDOW_ENABLED
+#if AP_INERTIALSENSOR_RATE_LOOP_WINDOW_ENABLED && FRAME_CONFIG != HELI_FRAME
 #pragma GCC push_options
 #pragma GCC optimize("O2")
 
@@ -339,6 +339,8 @@ void Copter::run_rate_controller_main()
         motors->set_dt(last_loop_time_s);
         // only run the rate controller if we are not using the rate thread
         attitude_control->rate_controller_run();
+    } else {
+        attitude_control->rate_controller_target_reset();
     }
 }
 

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -718,7 +718,7 @@ void Copter::one_hz_loop()
     custom_control.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
 #endif
 
-#if AP_INERTIALSENSOR_RATE_LOOP_WINDOW_ENABLED
+#if AP_INERTIALSENSOR_RATE_LOOP_WINDOW_ENABLED && FRAME_CONFIG != HELI_FRAME
     // see if we should have a separate rate thread
     if (!started_rate_thread && get_fast_rate_type() != FastRateType::FAST_RATE_DISABLED) {
         if (hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&Copter::rate_controller_thread, void),