Copter: remove unnecessary true statements

ArduPilot · Dec 3, 2024 · 13efb77 · 13efb77
1 parent 40a2c31
commit 13efb77
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Showing 9 changed files with 9 additions and 9 deletions.
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
@@ -45,7 +45,7 @@ void ModeAcro_Heli::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->reset_target_and_rate(true);
+        attitude_control->reset_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
     case AP_Motors::SpoolState::GROUND_IDLE:

diff --git a/ArduCopter/mode_althold.cpp b/ArduCopter/mode_althold.cpp
@@ -50,7 +50,7 @@ void ModeAltHold::run()
 
     case AltHoldModeState::MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate(true);
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 

diff --git a/ArduCopter/mode_drift.cpp b/ArduCopter/mode_drift.cpp
@@ -91,7 +91,7 @@ void ModeDrift::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->reset_yaw_target_and_rate(true);
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
 

diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
@@ -266,7 +266,7 @@ void ModeFlowHold::run()
     case AltHoldModeState::MotorStopped:
         copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
         copter.attitude_control->reset_rate_controller_I_terms();
-        copter.attitude_control->reset_yaw_target_and_rate(true);
+        copter.attitude_control->reset_yaw_target_and_rate();
         copter.pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         flow_pi_xy.reset_I();
         break;

diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
@@ -125,7 +125,7 @@ void ModeLoiter::run()
 
     case AltHoldModeState::MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate(true);
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->init_target();
         attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);

diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
@@ -102,7 +102,7 @@ void ModePosHold::run()
 
     case AltHoldModeState::MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate(true);
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();

diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
@@ -76,7 +76,7 @@ void ModeSport::run()
 
     case AltHoldModeState::MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate(true);
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 

diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
@@ -52,7 +52,7 @@ void ModeStabilize_Heli::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->reset_yaw_target_and_rate(true);
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
     case AP_Motors::SpoolState::GROUND_IDLE:

diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp
@@ -330,7 +330,7 @@ void ModeZigZag::manual_control()
 
     case AltHoldModeState::MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate(true);
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->init_target();
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);