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Copter: automatically set H_RSC_MIN/MAX from RC8_MIN/MAX on upgrade 

this prevents a problem where the disarm throttle will change after
upgrading to 3.4
This commit is contained in:
Andrew Tridgell 2015-09-02 08:49:59 +10:00
parent 2ce0f4c171
commit 64a8e66dd7
2 changed files with 18 additions and 5 deletions
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13
ArduCopter/heli.cpp
View File

@ -18,6 +18,19 @@ void Copter::heli_init()
{
// helicopters are always using motor interlock
set_using_interlock(true);
/*
automatically set H_RSC_MIN and H_RSC_MAX from RC8_MIN and
RC8_MAX so that when users upgrade from tradheli version 3.3 to
3.4 they get the same throttle range as in previous versions of
the code
*/
if (!g.heli_servo_rsc.radio_min.load()) {
g.heli_servo_rsc.radio_min.set_and_save(g.rc_8.radio_min.get());
}
if (!g.heli_servo_rsc.radio_max.load()) {
g.heli_servo_rsc.radio_max.set_and_save(g.rc_8.radio_max.get());
}
}
// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the channel_throttle->servo_out function

10
ArduCopter/system.cpp
View File

@ -166,6 +166,11 @@ void Copter::init_ardupilot()
log_init();
#endif
#if FRAME_CONFIG == HELI_FRAME
// trad heli specific initialisation
heli_init();
#endif
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up motors and output to escs
@ -257,11 +262,6 @@ void Copter::init_ardupilot()
reset_control_switch();
init_aux_switches();
#if FRAME_CONFIG == HELI_FRAME
// trad heli specific initialisation
heli_init();
#endif
startup_ground(true);
// we don't want writes to the serial port to cause us to pause