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Copter: bug fix for heli_control_acro throttle

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Randy Mackay 2014-01-31 09:55:20 +09:00 committed by Andrew Tridgell
parent c73c9f03a5
commit 1648ecc6e5
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/heli_control_acro.pde
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@ -17,6 +17,7 @@ static bool heli_acro_init(bool ignore_checks)
static void heli_acro_run() static void heli_acro_run()
{ {
int16_t target_roll, target_pitch, target_yaw; int16_t target_roll, target_pitch, target_yaw;
int16_t pilot_throttle_scaled;
// if not armed or main rotor not up to full speed clear stabilized rate errors // if not armed or main rotor not up to full speed clear stabilized rate errors
// unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move // unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
@ -29,7 +30,14 @@ static void heli_acro_run()
// convert the input to the desired body frame rate // convert the input to the desired body frame rate
get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw); get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
// run attitude controller
attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw); attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);
// output pilot's throttle without angle boost
attitude_control.set_throttle_out(pilot_throttle_scaled, false);
} }
#endif //HELI_FRAME #endif //HELI_FRAME