From 9326d36e54a06117a7b19f80f7e42d50a81065a4 Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Thu, 3 Jul 2014 15:52:22 -0400 Subject: [PATCH] AC_AttitudeControl_Heli: Add use_flybar_passthrough accessor function. --- libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h index 4642b804e3..c9f9a4ea1d 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h @@ -41,6 +41,9 @@ public: // use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage void use_leaky_i(bool leaky_i) { _flags_heli.leaky_i = leaky_i; } + // use_flybar_passthrough - controls whether we pass-through control inputs to swash-plate + void use_flybar_passthrough(bool passthrough) { _flags_heli.flybar_passthrough = passthrough; } + void update_feedforward_filter_rates(float time_step); // user settable parameters