Copter: fix integrator and yaw target handling during spool up/down

ArduPilot · Nov 22, 2024 · c14d498 · c14d498
1 parent 53cdd66
commit c14d498
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Showing 3 changed files with 6 additions and 13 deletions.
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
@@ -56,16 +56,14 @@ void ModeAcro_Heli::run()
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
+    case AP_Motors::SpoolState::SPOOLING_UP:
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
+    case AP_Motors::SpoolState::SPOOLING_DOWN:
         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
             attitude_control->reset_target_and_rate(false);
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
-    case AP_Motors::SpoolState::SPOOLING_UP:
-    case AP_Motors::SpoolState::SPOOLING_DOWN:
-        // do nothing
-        break;
     }
 
     if (!motors->has_flybar()){

diff --git a/ArduCopter/mode_drift.cpp b/ArduCopter/mode_drift.cpp
@@ -106,7 +106,9 @@ void ModeDrift::run()
         }
         break;
 
+    case AP_Motors::SpoolState::SPOOLING_UP:
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
+    case AP_Motors::SpoolState::SPOOLING_DOWN:
         // clear landing flag above zero throttle
         if (!copter.is_tradheli()) {
             if (!motors->limit.throttle_lower) {
@@ -119,11 +121,6 @@ void ModeDrift::run()
             }
         }
         break;
-
-    case AP_Motors::SpoolState::SPOOLING_UP:
-    case AP_Motors::SpoolState::SPOOLING_DOWN:
-        // do nothing
-        break;
     }
 
     // call attitude controller

diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
@@ -63,16 +63,14 @@ void ModeStabilize_Heli::run()
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
+    case AP_Motors::SpoolState::SPOOLING_UP:
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
+    case AP_Motors::SpoolState::SPOOLING_DOWN:
         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
             attitude_control->reset_target_and_rate(false);
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
-    case AP_Motors::SpoolState::SPOOLING_UP:
-    case AP_Motors::SpoolState::SPOOLING_DOWN:
-        // do nothing
-        break;
     }
 
     // call attitude controller