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Copter: fixed collective input with H_SV_MAN=1 for heli

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when H_SV_MAN=1 we do direct pass-thru so the user can test swash
range. The problem is that it uses norm_input() for throttle, which
depends on RC3_TRIM. Nowhere else in heli or copter do we depend on
RC3_TRIM, so the user gets a misleading idea of behaviour when testing
their swash.
This commit is contained in:
Andrew Tridgell 2017-09-20 11:10:09 +10:00
parent 85ab3edc5f
commit 8cf8f3a288
1 changed files with 4 additions and 1 deletions
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5
ArduCopter/radio.cpp
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@ -182,5 +182,8 @@ void Copter::set_throttle_zero_flag(int16_t throttle_control)
// pass pilot's inputs to motors library (used to allow wiggling servos while disarmed on heli, single, coax copters) // pass pilot's inputs to motors library (used to allow wiggling servos while disarmed on heli, single, coax copters)
void Copter::radio_passthrough_to_motors() void Copter::radio_passthrough_to_motors()
{ {
motors->set_radio_passthrough(channel_roll->norm_input(), channel_pitch->norm_input(), channel_throttle->norm_input(), channel_yaw->norm_input()); motors->set_radio_passthrough(channel_roll->norm_input(),
channel_pitch->norm_input(),
channel_throttle->get_control_in_zero_dz()*0.001,
channel_yaw->norm_input());
} }