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AP_Motors: Heli dual: Constrain cyclic roll for intermeshing

This commit is contained in:
MattKear 2024-06-03 20:13:43 +01:00 committed by Bill Geyer
parent 3ede599cfd
commit 5784abde1f
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -404,7 +404,8 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
pitch_out = _cyclic_max/4500.0f; pitch_out = _cyclic_max/4500.0f;
limit.pitch = true; limit.pitch = true;
} }
} else { }
if (_dual_mode != AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE) {
if (roll_out < -_cyclic_max/4500.0f) { if (roll_out < -_cyclic_max/4500.0f) {
roll_out = -_cyclic_max/4500.0f; roll_out = -_cyclic_max/4500.0f;
limit.roll = true; limit.roll = true;