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Copter: Use AP_MotorsHeli_Single for HELI_FRAME.

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This commit is contained in:
Fredrik Hedberg 2015-07-22 16:04:04 +02:00 committed by Randy Mackay
parent 97e09fa9b0
commit 66d9d38750
3 changed files with 4 additions and 4 deletions
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2
ArduCopter/Copter.h
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@ -299,7 +299,7 @@ private:
#elif FRAME_CONFIG == OCTA_QUAD_FRAME
#define MOTOR_CLASS AP_MotorsOctaQuad
#elif FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#define MOTOR_CLASS AP_MotorsHeli_Single
#elif FRAME_CONFIG == SINGLE_FRAME
#define MOTOR_CLASS AP_MotorsSingle
#elif FRAME_CONFIG == COAX_FRAME

4
ArduCopter/Parameters.cpp
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@ -979,8 +979,8 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
#if FRAME_CONFIG == HELI_FRAME
// @Group: H_
// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECT(motors, "H_", AP_MotorsHeli),
// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp
GOBJECT(motors, "H_", AP_MotorsHeli_Single),
#elif FRAME_CONFIG == SINGLE_FRAME
// @Group: SS1_

2
ArduCopter/heli_control_acro.cpp
View File

@ -11,7 +11,7 @@
bool Copter::heli_acro_init(bool ignore_checks)
{
// if heli is equipped with a flybar, then tell the attitude controller to pass through controls directly to servos
attitude_control.use_flybar_passthrough(motors.has_flybar(), motors.tail_type() == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO);
attitude_control.use_flybar_passthrough(motors.has_flybar(), motors.supports_yaw_passthrough());
// always successfully enter acro
return true;