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AP_MotorsHeli: Colyaw function to check if rotor speed control is above idle

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Robert Lefebvre 2015-08-10 16:25:28 -04:00 committed by Randy Mackay
parent d788f0307d
commit 9e8f5a42f4
1 changed files with 2 additions and 2 deletions
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libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -496,9 +496,9 @@ void AP_MotorsHeli_Single::move_swash(int16_t roll_out, int16_t pitch_out, int16
coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000; coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000;
// rudder feed forward based on collective // rudder feed forward based on collective
// the feed-forward is not required when the motor is shut down and not creating torque // the feed-forward is not required when the motor is stopped or at idle, and thus not creating torque
// also not required if we are using external gyro // also not required if we are using external gyro
if ((_main_rotor.get_control_speed() > 0) && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) { if ((_main_rotor.get_control_speed() > _rsc_idle) && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// sanity check collective_yaw_effect // sanity check collective_yaw_effect
_collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE); _collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE);
yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm); yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm);