From 708e2b402ebed618dc93af9f9341b5f9bed09ac8 Mon Sep 17 00:00:00 2001
From: Fredrik Hedberg <fredrik.hedberg@gmail.com>
Date: Wed, 22 Jul 2015 16:04:04 +0200
Subject: [PATCH] Copter: Use AP_MotorsHeli_Single for HELI_FRAME.

---
 ArduCopter/Copter.h              | 2 +-
 ArduCopter/Parameters.cpp        | 4 ++--
 ArduCopter/heli_control_acro.cpp | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index c76546271b..e39e371e18 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -296,7 +296,7 @@ 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
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 81b8c7688f..6204330f75 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -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_
diff --git a/ArduCopter/heli_control_acro.cpp b/ArduCopter/heli_control_acro.cpp
index ec65e5dec0..9cc9c0a697 100644
--- a/ArduCopter/heli_control_acro.cpp
+++ b/ArduCopter/heli_control_acro.cpp
@@ -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;