mirror of https://github.com/ArduPilot/ardupilot
Copter: Employ heli_radio_passthrough() for servo setup
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@ -241,6 +241,9 @@ static void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
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if (old_control_mode == ACRO) {
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attitude_control.use_flybar_passthrough(false);
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}
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// reset RC Passthrough to motors
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motors.reset_radio_passthrough();
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#endif //HELI_FRAME
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}
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@ -157,4 +157,10 @@ static void heli_update_rotor_speed_targets()
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}
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}
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// heli_radio_passthrough send RC inputs direct into motors library for use during manual passthrough for helicopter setup
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static void heli_radio_passthrough()
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{
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motors.set_radio_passthrough(channel_roll->control_in, channel_pitch->control_in, channel_throttle->control_in, channel_yaw->control_in);
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}
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#endif // FRAME_CONFIG == HELI_FRAME
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@ -36,6 +36,9 @@ static void heli_acro_run()
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attitude_control.relax_bf_rate_controller();
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}
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// send RC inputs direct into motors library for use during manual passthrough for helicopter setup
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heli_radio_passthrough();
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if (!motors.has_flybar()){
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// convert the input to the desired body frame rate
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get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
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@ -37,6 +37,9 @@ static void heli_stabilize_run()
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attitude_control.relax_bf_rate_controller();
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}
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// send RC inputs direct into motors library for use during manual passthrough for helicopter setup
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heli_radio_passthrough();
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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