mirror of https://github.com/ArduPilot/ardupilot
AP_Motors: Heli_Dual: refactor swashplate mixing
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Iampete1
Andrew Tridgell
parent
2fe100d7bc
commit
aa8c477a26
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@ -302,81 +302,61 @@ void AP_MotorsHeli_Dual::calculate_scalars()
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calculate_armed_scalars();
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}
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// get_swashplate - calculate movement of each swashplate based on configuration
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float AP_MotorsHeli_Dual::get_swashplate (int8_t swash_num, int8_t swash_axis, float pitch_input, float roll_input, float yaw_input, float coll_input)
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// Mix and output swashplates for tandem
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void AP_MotorsHeli_Dual::mix_tandem(float pitch_input, float roll_input, float yaw_input, float collective1_input, float collective2_input)
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{
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float swash_tilt = 0.0f;
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if (_dual_mode == AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE) {
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// roll tilt
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if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_ROLL) {
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if (swash_num == 1) {
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swash_tilt = 0.0f;
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} else if (swash_num == 2) {
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swash_tilt = 0.0f;
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}
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} else if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_PITCH) {
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// pitch tilt
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if (swash_num == 1) {
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swash_tilt = pitch_input - _yaw_scaler * yaw_input;
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} else if (swash_num == 2) {
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swash_tilt = pitch_input + _yaw_scaler * yaw_input;
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}
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} else if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_COLL) {
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// collective
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if (swash_num == 1) {
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swash_tilt = 0.45f * _dcp_scaler * (roll_input + constrain_float(_dcp_trim, -0.2f, 0.2f)) + coll_input;
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} else if (swash_num == 2) {
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swash_tilt = -0.45f * _dcp_scaler * (roll_input + constrain_float(_dcp_trim, -0.2f, 0.2f)) + coll_input;
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}
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}
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} else if (_dual_mode == AP_MOTORS_HELI_DUAL_MODE_INTERMESHING) {
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// roll tilt
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if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_ROLL) {
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if (swash_num == 1) {
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swash_tilt = roll_input;
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} else if (swash_num == 2) {
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swash_tilt = roll_input;
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}
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} else if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_PITCH) {
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// pitch tilt
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if (swash_num == 1) {
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swash_tilt = pitch_input - _yaw_scaler * yaw_input;
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} else if (swash_num == 2) {
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swash_tilt = pitch_input + _yaw_scaler * yaw_input;
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}
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} else if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_COLL) {
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// collective
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if (swash_num == 1) {
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swash_tilt = 0.45f * _dcp_scaler * yaw_input + coll_input;
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} else if (swash_num == 2) {
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swash_tilt = -0.45f * _dcp_scaler * yaw_input + coll_input;
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}
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}
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} else { // AP_MOTORS_HELI_DUAL_MODE_TANDEM
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// roll tilt
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if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_ROLL) {
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if (swash_num == 1) {
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swash_tilt = roll_input + _yaw_scaler * yaw_input;
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} else if (swash_num == 2) {
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swash_tilt = roll_input - _yaw_scaler * yaw_input;
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}
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} else if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_PITCH) {
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// pitch tilt
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if (swash_num == 1) {
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swash_tilt = 0.0f;
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} else if (swash_num == 2) {
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swash_tilt = 0.0f;
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}
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} else if (swash_axis == AP_MOTORS_HELI_DUAL_SWASH_AXIS_COLL) {
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// collective
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if (swash_num == 1) {
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swash_tilt = 0.45f * _dcp_scaler * (pitch_input + constrain_float(_dcp_trim, -0.2f, 0.2f)) + coll_input;
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} else if (swash_num == 2) {
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swash_tilt = -0.45f * _dcp_scaler * (pitch_input + constrain_float(_dcp_trim, -0.2f, 0.2f)) + coll_input;
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}
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}
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}
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return swash_tilt;
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// Differential cyclic roll is used for yaw and combined for roll
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const float swash1_roll = roll_input + _yaw_scaler * yaw_input;
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const float swash2_roll = roll_input - _yaw_scaler * yaw_input;
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// cyclic is not used for pitch control
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const float swash_pitch = 0.0;
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// Differential collective for pitch and combined for thrust
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const float swash1_coll = 0.45 * _dcp_scaler * (pitch_input + constrain_float(_dcp_trim, -0.2, 0.2)) + collective1_input;
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const float swash2_coll = -0.45 * _dcp_scaler * (pitch_input + constrain_float(_dcp_trim, -0.2, 0.2)) + collective2_input;
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// Calculate servo positions in swashplate library
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_swashplate1.calculate(swash1_roll, swash_pitch, swash1_coll);
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_swashplate2.calculate(swash2_roll, swash_pitch, swash2_coll);
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}
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// Mix and output swashplates for transverse
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void AP_MotorsHeli_Dual::mix_transverse(float pitch_input, float roll_input, float yaw_input, float collective1_input, float collective2_input)
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{
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// cyclic is not used for roll control
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const float swash_roll = 0.0;
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// Differential cyclic pitch is used for yaw
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const float swash1_pitch = pitch_input - _yaw_scaler * yaw_input;
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const float swash2_pitch = pitch_input + _yaw_scaler * yaw_input;
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// Differential collective for roll and combined for thrust
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const float swash1_coll = 0.45 * _dcp_scaler * (roll_input + constrain_float(_dcp_trim, -0.2, 0.2)) + collective1_input;
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const float swash2_coll = -0.45 * _dcp_scaler * (roll_input + constrain_float(_dcp_trim, -0.2, 0.2)) + collective2_input;
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// Calculate servo positions in swashplate library
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_swashplate1.calculate(swash_roll, swash1_pitch, swash1_coll);
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_swashplate2.calculate(swash_roll, swash2_pitch, swash2_coll);
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}
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// Mix and output swashplates for intermeshing
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void AP_MotorsHeli_Dual::mix_intermeshing(float pitch_input, float roll_input, float yaw_input, float collective1_input, float collective2_input)
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{
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// Direct roll control on both swash plates
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const float swash_roll = roll_input;
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// Differential cyclic pitch is used for yaw and combined for pitch
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const float swash1_pitch = pitch_input - _yaw_scaler * yaw_input;
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const float swash2_pitch = pitch_input + _yaw_scaler * yaw_input;
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// Differential collective for yaw and combined for thrust
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const float swash1_coll = 0.45 * _dcp_scaler * yaw_input + collective1_input;
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const float swash2_coll = -0.45 * _dcp_scaler * yaw_input + collective2_input;
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// Calculate servo positions in swashplate library
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_swashplate1.calculate(swash_roll, swash1_pitch, swash1_coll);
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_swashplate2.calculate(swash_roll, swash2_pitch, swash2_coll);
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}
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// update_motor_controls - sends commands to motor controllers
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@ -516,17 +496,22 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
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// ToDo: add main rotor cyclic power?
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_main_rotor.set_collective(fabsf(collective_out));
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// compute swashplate tilt
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float swash1_pitch = get_swashplate(1, AP_MOTORS_HELI_DUAL_SWASH_AXIS_PITCH, pitch_out, roll_out, yaw_out, collective_out_scaled);
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float swash1_roll = get_swashplate(1, AP_MOTORS_HELI_DUAL_SWASH_AXIS_ROLL, pitch_out, roll_out, yaw_out, collective_out_scaled);
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float swash1_coll = get_swashplate(1, AP_MOTORS_HELI_DUAL_SWASH_AXIS_COLL, pitch_out, roll_out, yaw_out, collective_out_scaled);
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float swash2_pitch = get_swashplate(2, AP_MOTORS_HELI_DUAL_SWASH_AXIS_PITCH, pitch_out, roll_out, yaw_out, collective2_out_scaled);
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float swash2_roll = get_swashplate(2, AP_MOTORS_HELI_DUAL_SWASH_AXIS_ROLL, pitch_out, roll_out, yaw_out, collective2_out_scaled);
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float swash2_coll = get_swashplate(2, AP_MOTORS_HELI_DUAL_SWASH_AXIS_COLL, pitch_out, roll_out, yaw_out, collective2_out_scaled);
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// Calculate servo positions in swashplate library
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_swashplate1.calculate(swash1_roll, swash1_pitch, swash1_coll);
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_swashplate2.calculate(swash2_roll, swash2_pitch, swash2_coll);
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// Mix swash plate
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switch (_dual_mode) {
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case AP_MOTORS_HELI_DUAL_MODE_TANDEM:
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default:
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mix_tandem(pitch_out, roll_out, yaw_out, collective_out_scaled, collective2_out_scaled);
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break;
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case AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE:
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mix_transverse(pitch_out, roll_out, yaw_out, collective_out_scaled, collective2_out_scaled);
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break;
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case AP_MOTORS_HELI_DUAL_MODE_INTERMESHING:
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mix_intermeshing(pitch_out, roll_out, yaw_out, collective_out_scaled, collective2_out_scaled);
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break;
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}
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}
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@ -17,11 +17,6 @@
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#define AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE 1 // transverse mode (rotors side by side)
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#define AP_MOTORS_HELI_DUAL_MODE_INTERMESHING 2 // intermeshing mode (rotors side by side)
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// tandem modes
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#define AP_MOTORS_HELI_DUAL_SWASH_AXIS_PITCH 0 // swashplate pitch tilt axis
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#define AP_MOTORS_HELI_DUAL_SWASH_AXIS_ROLL 1 // swashplate roll tilt axis
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#define AP_MOTORS_HELI_DUAL_SWASH_AXIS_COLL 2 // swashplate collective axis
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// default differential-collective-pitch scaler
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#define AP_MOTORS_HELI_DUAL_DCP_SCALER 0.25f
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@ -110,4 +105,16 @@ protected:
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// internal variables
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float _collective2_zero_thrst_pct;
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private:
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// Mix and output swashplates for tandem
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void mix_tandem(float pitch_input, float roll_input, float yaw_input, float collective1_input, float collective2_input);
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// Mix and output swashplates for transverse
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void mix_transverse(float pitch_input, float roll_input, float yaw_input, float collective1_input, float collective2_input);
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// Mix and output swashplates for intermeshing
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void mix_intermeshing(float pitch_input, float roll_input, float yaw_input, float collective1_input, float collective2_input);
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};
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