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AP_MotorsHeli: Add To-Do. Swash setup hasn't seemed to work right for a while, this might be why. Confirm later.

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Robert Lefebvre 2014-07-05 09:27:38 -04:00 committed by Randy Mackay
parent a7f6a91827
commit 92bdf24dba
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -527,6 +527,8 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
if (_heliflags.swash_initialised) { if (_heliflags.swash_initialised) {
reset_swash(); 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; coll_out_scaled = coll_in * _collective_scalar + _rc_throttle.radio_min - 1000;
}else{ // regular flight mode }else{ // regular flight mode