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Copter: automatically set H_RSC_MIN/MAX from RC8_MIN/MAX on upgrade

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This commit is contained in:
Andrew Tridgell 2015-09-02 08:49:59 +10:00 committed by Randy Mackay
parent 1caa2262da
commit 818a5d103f
2 changed files with 18 additions and 5 deletions
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13
ArduCopter/heli.cpp
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@ -19,6 +19,19 @@ void Copter::heli_init()
// helicopters are always using motor interlock
set_using_interlock(true);
/*
automatically set H_RSC_MIN and H_RSC_MAX from RC8_MIN and
RC8_MAX so that when users upgrade from tradheli version 3.2 to
3.3 they get the same throttle range as in previous versions of
the code
*/
if (!g.heli_servo_rsc.radio_min.load()) {
g.heli_servo_rsc.radio_min.set_and_save(g.rc_8.radio_min.get());
}
if (!g.heli_servo_rsc.radio_max.load()) {
g.heli_servo_rsc.radio_max.set_and_save(g.rc_8.radio_max.get());
}
// pre-load stab col values as mode is initialized as Stabilize, but stabilize_init() function is not run on start-up.
input_manager.set_use_stab_col(true);
input_manager.set_stab_col_ramp(1.0);

10
ArduCopter/system.cpp
View File

@ -165,6 +165,11 @@ void Copter::init_ardupilot()
log_init();
#endif
#if FRAME_CONFIG == HELI_FRAME
// trad heli specific initialisation
heli_init();
#endif
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up motors and output to escs
@ -251,11 +256,6 @@ void Copter::init_ardupilot()
reset_control_switch();
init_aux_switches();
#if FRAME_CONFIG == HELI_FRAME
// trad heli specific initialisation
heli_init();
#endif
startup_ground(true);
// we don't want writes to the serial port to cause us to pause