From 5ee87f756114cba076fdbf6cbda04cc64fc978a5 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Fri, 2 May 2014 17:44:09 -0400
Subject: [PATCH] Copter: Change TradHeli to use new AC_HELI_PID class.

---
 ArduCopter/ArduCopter.pde |  1 +
 ArduCopter/Parameters.h   |  6 ++++++
 ArduCopter/Parameters.pde | 13 +++++++++++++
 3 files changed, 20 insertions(+)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 22ee4c0a76..8eea022543 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -115,6 +115,7 @@
 #include <AP_Mission.h>         // Mission command library
 #include <AP_Rally.h>           // Rally point library
 #include <AC_PID.h>             // PID library
+#include <AC_HELI_PID.h>        // Heli specific Rate PID library
 #include <AC_P.h>               // P library
 #include <AC_AttitudeControl.h> // Attitude control library
 #include <AC_AttitudeControl_Heli.h> // Attitude control library for traditional helicopter
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 4b0274794e..771f3d50fc 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -430,9 +430,15 @@ public:
     AP_Int8                 acro_trainer;
 
     // PI/D controllers
+#if FRAME_CONFIG == HELI_FRAME
+    AC_HELI_PID             pid_rate_roll;
+    AC_HELI_PID             pid_rate_pitch;
+    AC_HELI_PID             pid_rate_yaw;
+#else
     AC_PID                  pid_rate_roll;
     AC_PID                  pid_rate_pitch;
     AC_PID                  pid_rate_yaw;
+#endif
     AC_PID                  pid_loiter_rate_lat;
     AC_PID                  pid_loiter_rate_lon;
 
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 3a06e1ad46..ea1d675717 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -577,6 +577,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // PID controller
     //---------------
+
     // @Param: RATE_RLL_P
     // @DisplayName: Roll axis rate controller P gain
     // @Description: Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output
@@ -605,7 +606,11 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Range: 0.001 0.02
     // @Increment: 0.001
     // @User: Standard
+#if FRAME_CONFIG == HELI_FRAME
+    GGROUP(pid_rate_roll,     "RATE_RLL_", AC_HELI_PID),
+#else
     GGROUP(pid_rate_roll,     "RATE_RLL_", AC_PID),
+#endif
 
     // @Param: RATE_PIT_P
     // @DisplayName: Pitch axis rate controller P gain
@@ -635,7 +640,11 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Range: 0.001 0.02
     // @Increment: 0.001
     // @User: Standard
+#if FRAME_CONFIG == HELI_FRAME
+    GGROUP(pid_rate_pitch,    "RATE_PIT_", AC_HELI_PID),
+#else
     GGROUP(pid_rate_pitch,    "RATE_PIT_", AC_PID),
+#endif
 
     // @Param: RATE_YAW_P
     // @DisplayName: Yaw axis rate controller P gain
@@ -665,7 +674,11 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Range: 0.000 0.02
     // @Increment: 0.001
     // @User: Standard
+#if FRAME_CONFIG == HELI_FRAME
+    GGROUP(pid_rate_yaw,      "RATE_YAW_", AC_HELI_PID),
+#else
     GGROUP(pid_rate_yaw,      "RATE_YAW_", AC_PID),
+#endif
 
     // @Param: LOITER_LAT_P
     // @DisplayName: Loiter latitude rate controller P gain