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AC_AttitudeControl_Heli: Semantic Change. Motor Runup to Rotor Runup.

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Robert Lefebvre 2015-05-28 17:29:27 -04:00 committed by Randy Mackay
parent 80b4ca99f8
commit 4da54783fd
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -288,7 +288,7 @@ float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_cds)
// update i term as long as we haven't breached the limits or the I term will certainly reduce
if (!_flags_heli.limit_yaw || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
if (((AP_MotorsHeli&)_motors).motor_runup_complete()) {
if (((AP_MotorsHeli&)_motors).rotor_runup_complete()) {
i = _pid_rate_yaw.get_i();
} else {
i = ((AC_HELI_PID&)_pid_rate_yaw).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE); // If motor is not running use leaky I-term to avoid excessive build-up