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AP_MotorsHeli: Change set_delta_phase_angle so that it forces recalculation of collective factors.

This commit is contained in:
Robert Lefebvre 2014-05-11 19:50:03 -04:00 committed by Randy Mackay
parent fd542e99d8
commit 789b1018fc
2 changed files with 12 additions and 2 deletions
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9
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -787,3 +787,12 @@ void AP_MotorsHeli::write_aux(int16_t servo_out)
_servo_aux.calc_pwm(); _servo_aux.calc_pwm();
hal.rcout->write(AP_MOTORS_HELI_AUX, _servo_aux.radio_out); 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();
}

5
libraries/AP_Motors/AP_MotorsHeli.h
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@ -195,8 +195,9 @@ public:
// set_dt for setting main loop rate time // set_dt for setting main loop rate time
void set_dt(float dt) { _dt = dt; } void set_dt(float dt) { _dt = dt; }
// set_dt for setting main loop rate time // set_delta_phase_angle for setting variable phase angle compensation and force
void set_delta_phase_angle(int16_t angle) { _delta_phase_angle = angle; } // recalculation of collective factors
void set_delta_phase_angle(int16_t angle);
protected: protected: