TradHeli: heli_control_acro

ArduCopter/heli_control_acro.pde

@@ -0,0 +1,27 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+#if FRAME_CONFIG == HELI_FRAME
+/*
+ * heli_control_acro.pde - init and run calls for acro flight mode for trad heli
+ */
+
+// heli_acro_init - initialise acro controller
+static bool heli_acro_init(bool ignore_checks)
+{
+    return true;
+}
+
+// heli_acro_run - runs the acro controller
+// should be called at 100hz or more
+static void heli_acro_run()
+{
+    int16_t target_roll, target_pitch, target_yaw;
+
+    // To-Do: add support for flybarred helis
+
+    // convert the input to the desired body frame rate
+    get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
+
+    attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);
+}
+
+#endif  //HELI_FRAME