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TradHeli adding ramp up time to Ch8 Throttle Pass-through.

This commit is contained in:
Robert Lefebvre 2012-06-07 22:55:47 -04:00
parent c5916a8b4d
commit 238a1ced2c
1 changed files with 9 additions and 3 deletions
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12
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -490,10 +490,16 @@ void AP_MotorsHeli::ext_esc_control()
switch ( AP_MOTORS_ESC_MODE_PASSTHROUGH ) {
case AP_MOTORS_ESC_MODE_PASSTHROUGH:
if( armed() ){
_rc->OutputCh(AP_MOTORS_HELI_EXT_ESC, _rc_8->radio_in);
} else {
if( armed() && _rc_8->control_in > 10 ){
if (ext_esc_ramp < AP_MOTORS_EXT_ESC_RAMP_UP){
ext_esc_ramp++;
ext_esc_output = map(ext_esc_ramp, 0, AP_MOTORS_EXT_ESC_RAMP_UP, 1000, _rc_8->control_in);
} else {
ext_esc_output = _rc_8->control_in;
}
} else if( !armed() ) {
_rc->OutputCh(AP_MOTORS_HELI_EXT_ESC, _rc_8->radio_min);
ext_esc_ramp = 0; //Return ESC Ramp to 0
}
break;