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AC_AttControl_Heli: roll, pitch, yaw passthrough to motors in -1 to +1 range

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This commit is contained in:
Randy Mackay 2016-02-18 15:23:04 +09:00
parent 344d86a095
commit 165d739b45
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -220,13 +220,13 @@ void AC_AttitudeControl_Heli::rate_controller_run()
// call rate controllers and send output to motors object // call rate controllers and send output to motors object
// if using a flybar passthrough roll and pitch directly to motors // if using a flybar passthrough roll and pitch directly to motors
if (_flags_heli.flybar_passthrough) { if (_flags_heli.flybar_passthrough) {
_motors.set_roll(_passthrough_roll); _motors.set_roll(_passthrough_roll/4500.0f);
_motors.set_pitch(_passthrough_pitch); _motors.set_pitch(_passthrough_pitch/4500.0f);
} else { } else {
rate_bf_to_motor_roll_pitch(_ang_vel_target_rads.x, _ang_vel_target_rads.y); rate_bf_to_motor_roll_pitch(_ang_vel_target_rads.x, _ang_vel_target_rads.y);
} }
if (_flags_heli.tail_passthrough) { if (_flags_heli.tail_passthrough) {
_motors.set_yaw(_passthrough_yaw); _motors.set_yaw(_passthrough_yaw/4500.0f);
} else { } else {
_motors.set_yaw(rate_bf_to_motor_yaw(_ang_vel_target_rads.z)); _motors.set_yaw(rate_bf_to_motor_yaw(_ang_vel_target_rads.z));
} }