From 789b1018fcac733bfa97a2cad5e6d823158c7003 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Sun, 11 May 2014 19:50:03 -0400
Subject: [PATCH] AP_MotorsHeli: Change set_delta_phase_angle so that it forces
 recalculation of collective factors.

---
 libraries/AP_Motors/AP_MotorsHeli.cpp | 9 +++++++++
 libraries/AP_Motors/AP_MotorsHeli.h   | 5 +++--
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index e4f6f4ba52..39102e716d 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -787,3 +787,12 @@ void AP_MotorsHeli::write_aux(int16_t servo_out)
     _servo_aux.calc_pwm();
     hal.rcout->write(AP_MOTORS_HELI_AUX, _servo_aux.radio_out);
 }
+
+// set_delta_phase_angle for setting variable phase angle compensation and force
+// recalculation of collective factors
+void AP_MotorsHeli::set_delta_phase_angle(int16_t angle)
+{
+    angle = constrain_int16(angle, -90, 90);
+    _delta_phase_angle = angle;
+    calculate_roll_pitch_collective_factors();
+}
\ No newline at end of file
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 117c6f8966..60191bac2e 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -195,8 +195,9 @@ public:
     // set_dt for setting main loop rate time
     void set_dt(float dt) { _dt = dt; }
     
-    // set_dt for setting main loop rate time
-    void set_delta_phase_angle(int16_t angle) { _delta_phase_angle = angle; }
+    // set_delta_phase_angle for setting variable phase angle compensation and force
+    // recalculation of collective factors
+    void set_delta_phase_angle(int16_t angle);
 
 protected: