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Copter: Tradheli-fixes hover roll trim ramp time

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bnsgeyer 2018-11-16 10:48:42 -05:00 committed by Randy Mackay
parent f044627895
commit 0be7a7cf2d
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/heli.cpp
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@ -86,7 +86,7 @@ void Copter::update_heli_control_dynamics(void)
hover_roll_trim_scalar_slew = constrain_int16(hover_roll_trim_scalar_slew, 0, scheduler.get_loop_rate_hz()); hover_roll_trim_scalar_slew = constrain_int16(hover_roll_trim_scalar_slew, 0, scheduler.get_loop_rate_hz());
// set hover roll trim scalar, will ramp from 0 to 1 over 1 second after we think helicopter has taken off // set hover roll trim scalar, will ramp from 0 to 1 over 1 second after we think helicopter has taken off
attitude_control->set_hover_roll_trim_scalar((float)(hover_roll_trim_scalar_slew/scheduler.get_loop_rate_hz())); attitude_control->set_hover_roll_trim_scalar((float) hover_roll_trim_scalar_slew/(float) scheduler.get_loop_rate_hz());
} }
// heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing // heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing