From 92bdf24dba60c35e47004551ba48e32ddbfd0046 Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Sat, 5 Jul 2014 09:27:38 -0400 Subject: [PATCH] AP_MotorsHeli: Add To-Do. Swash setup hasn't seemed to work right for a while, this might be why. Confirm later. --- libraries/AP_Motors/AP_MotorsHeli.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp index 39102e716d..f23f52e5a0 100644 --- a/libraries/AP_Motors/AP_MotorsHeli.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli.cpp @@ -527,6 +527,8 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll if (_heliflags.swash_initialised) { reset_swash(); } + // To-Do: This equation seems to be wrong. It probably restricts swash movement so that swash setup doesn't work right. + // _collective_scalar should probably not be used or set to 1? coll_out_scaled = coll_in * _collective_scalar + _rc_throttle.radio_min - 1000; }else{ // regular flight mode