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AP_Motors: fixed use of trim on heli servos

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this was broken by the servo range 0 to 1 changes
This commit is contained in:
Andrew Tridgell 2016-10-13 09:34:48 +11:00
parent 0cd3054a4c
commit 7cd7f03d56
1 changed files with 8 additions and 3 deletions
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11
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -454,10 +454,15 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
hal.rcout->cork();
// rescale from -1..1, so we can use the pwm calc that includes trim
servo1_out = 2*servo1_out - 1;
servo2_out = 2*servo2_out - 1;
servo3_out = 2*servo3_out - 1;
// actually move the servos
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_0to1(servo1_out, _swash_servo_1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_0to1(servo2_out, _swash_servo_2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_0to1(servo3_out, _swash_servo_3));
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(servo1_out, _swash_servo_1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(servo2_out, _swash_servo_2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(servo3_out, _swash_servo_3));
// update the yaw rate using the tail rotor/servo
move_yaw(yaw_out + yaw_offset);