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AP_Morors: scale colyaw to match previous behaviour

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this was missed in the motor scaling changes. Thanks to Rob for
noticing this.
This commit is contained in:
Andrew Tridgell 2016-08-10 07:58:06 +10:00
parent 431f7da5b3
commit 270fa95a8d
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -423,7 +423,8 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
if ((_main_rotor.get_control_output() > _main_rotor.get_idle_output()) && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// sanity check collective_yaw_effect
_collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE);
yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_mid_pct);
// the 4.5 scaling factor is to bring the values in line with previous releases
yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_mid_pct) / 4.5f;
}
} else {
yaw_offset = 0.0f;