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AP_Motors: Tradheli- fixes servo_test function for Dual Heli frame

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bnsgeyer 2017-11-07 19:47:02 -05:00 committed by Randy Mackay
parent 0e71aa6f89
commit 63bafa2c7f
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -562,10 +562,10 @@ void AP_MotorsHeli_Dual::servo_test()
_pitch_test -= (1.0f / (_loop_rate/2)); _pitch_test -= (1.0f / (_loop_rate/2));
_oscillate_angle += 8 * M_PI / _loop_rate; _oscillate_angle += 8 * M_PI / _loop_rate;
} else if (_servo_test_cycle_time >= 5.0f && _servo_test_cycle_time < 6.0f){ // Raise swash to top } else if (_servo_test_cycle_time >= 5.0f && _servo_test_cycle_time < 6.0f){ // Raise swash to top
_collective_test += (1.0f / _loop_rate); _collective_test = 1.0f;
_oscillate_angle += 2 * M_PI / _loop_rate; _oscillate_angle += 2 * M_PI / _loop_rate;
} else if (_servo_test_cycle_time >= 11.0f && _servo_test_cycle_time < 12.0f){ // Lower swash to bottom } else if (_servo_test_cycle_time >= 11.0f && _servo_test_cycle_time < 12.0f){ // Lower swash to bottom
_collective_test -= (1.0f / _loop_rate); _collective_test = 0.0f;
_oscillate_angle += 2 * M_PI / _loop_rate; _oscillate_angle += 2 * M_PI / _loop_rate;
} else { // reset cycle } else { // reset cycle
_servo_test_cycle_time = 0.0f; _servo_test_cycle_time = 0.0f;
@ -581,7 +581,7 @@ void AP_MotorsHeli_Dual::servo_test()
// over-ride servo commands to move servos through defined ranges // over-ride servo commands to move servos through defined ranges
_throttle_in = _collective_test; _throttle_filter.reset(_collective_test);
_roll_in = _roll_test; _roll_in = _roll_test;
_pitch_in = _pitch_test; _pitch_in = _pitch_test;
} }