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TradHeli - fixed small bug in yaw control code 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1022 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
rmackay9@yahoo.com 2010-12-05 07:53:18 +00:00
parent c747c43c0b
commit 1ab6e3158f
1 changed files with 2 additions and 2 deletions
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4
ArducopterNG/Heli.pde
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@ -232,7 +232,7 @@ void heli_read_radio()
rollPitchCollPercent = ccpmDeallocation * ccpmPercents;
// get the yaw (not coded)
yawPercent = yawSlope * APM_RC.InputCh(CHANNEL_YAW) + yawIntercept;
yawPercent = (yawSlope * APM_RC.InputCh(CHANNEL_YAW) + yawIntercept) - trim_yaw;
// we add 1500 to make it fit in with rest of arduCopter code..
ch_roll = rollPitchCollPercent.x;
@ -249,7 +249,7 @@ void heli_read_radio()
command_rx_roll = ch_roll / HELI_STICK_TO_ANGLE_FACTOR; // Convert stick position to absolute angles
command_rx_pitch = ch_pitch / HELI_STICK_TO_ANGLE_FACTOR; // Convert stick position to absolute angles
command_rx_collective = ch_collective;
command_rx_yaw = (ch_yaw-trim_yaw) / HELI_YAW_STICK_TO_ANGLE_FACTOR; // Convert stick position to turn rate
command_rx_yaw = ch_yaw / HELI_YAW_STICK_TO_ANGLE_FACTOR; // Convert stick position to turn rate
// hardcode flight mode
flightMode = STABLE_MODE;