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TradHeli: Stabilize mode should use get_pilot_desired_collective, not get_pilot_desired_throttle.

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Robert Lefebvre 2014-05-11 10:51:25 -04:00 committed by Randy Mackay
parent 032f321348
commit 5b13b2b3da
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/heli_control_stabilize.pde
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@ -34,7 +34,7 @@ static void heli_stabilize_run()
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in); target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
// get pilot's desired throttle // get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in); pilot_throttle_scaled = get_pilot_desired_collective(g.rc_3.control_in);
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());