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TradHeli - tiny fix for yaw_offset. Yaw_offset is used to proactively counteract rotational force caused by changing the collective pitch (i.e. rapidly climbing or decending). There was a small bug for when the collective pitch is negative (i.e. powered decent) in which case the offset was in the incorrect direction.

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Randy Mackay 2012-02-05 11:04:38 +09:00
parent f90694c671
commit 498970a948
1 changed files with 1 additions and 1 deletions
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ArduCopter/heli.pde
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@ -145,7 +145,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
// rudder feed forward based on collective
#if HIL_MODE == HIL_MODE_DISABLED // don't do rudder feed forward in simulator
if( !g.heli_ext_gyro_enabled ) {
yaw_offset = g.heli_coll_yaw_effect * (coll_out_scaled - g.heli_coll_mid);
yaw_offset = g.heli_coll_yaw_effect * abs(coll_out_scaled - g.heli_coll_mid);
}
#endif
}