void pitchCntrl(void)
{
if (canStabilizeHover() && desired_behavior._.hover)
{
hoverPitchCntrl();
}
else
{
normalPitchCntrl();
}
}
void pitchCntrl(void)
{
#ifdef TestGains
if (flight_mode_switch_waypoints())
{
flags._.GPS_steering = 1; // turn navigation on
//flags._.pitch_feedback = 1;
}
else
{
flags._.GPS_steering = 0; // turn navigation off
//flags._.pitch_feedback = 1;
}
#endif
if (current_orientation == F_HOVER || desired_behavior._.hover)
{
hoverPitchCntrl();
}
else
{
normalPitchCntrl();
}
}