From ac2e933358097daa64e0cd17084df62370b1966e Mon Sep 17 00:00:00 2001
From: bnsgeyer <bnsgeyer@aol.com>
Date: Sat, 25 Nov 2017 19:15:42 -0500
Subject: [PATCH] AP_Motors: Tradheli - Fixed Directdrive Variable Pitch
 Feature

---
 libraries/AP_Motors/AP_MotorsHeli_RSC.cpp    |  9 +-----
 libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 34 ++++++--------------
 2 files changed, 11 insertions(+), 32 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index 20728bf18f..f5f1cb4fe6 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -187,13 +187,6 @@ void AP_MotorsHeli_RSC::write_rsc(float servo_out)
         // ToDo: We should probably use RC_Channel_Aux to avoid this problem
         return;
     } else {
-        // calculate PWM value based on H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
-        uint16_t pwm = servo_out * (_pwm_max - _pwm_min);
-        if (_pwm_rev >= 0) {
-            pwm = _pwm_min + pwm;
-        } else {
-            pwm = _pwm_max - pwm;
-        }
-        SRV_Channels::set_output_pwm(_aux_fn, pwm);
+        SRV_Channels::set_output_scaled(_aux_fn, (uint16_t) (servo_out * 1000));
     }
 }
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 806ad964d6..7a3e2b134a 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -116,27 +116,6 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("GYR_GAIN_ACRO", 11, AP_MotorsHeli_Single,  _ext_gyro_gain_acro, 0),
 
-    // @Param: RSC_PWM_MIN
-    // @DisplayName: RSC PWM output miniumum
-    // @Description: This sets the PWM output on RSC channel for maximum rotor speed
-    // @Range: 0 2000
-    // @User: Standard
-    AP_GROUPINFO("RSC_PWM_MIN", 16, AP_MotorsHeli_Single, _main_rotor._pwm_min, 1000),
-
-    // @Param: RSC_PWM_MAX
-    // @DisplayName: RSC PWM output maxiumum
-    // @Description: This sets the PWM output on RSC channel for miniumum rotor speed
-    // @Range: 0 2000
-    // @User: Standard
-    AP_GROUPINFO("RSC_PWM_MAX", 17, AP_MotorsHeli_Single, _main_rotor._pwm_max, 2000),
-
-    // @Param: RSC_PWM_REV
-    // @DisplayName: RSC PWM reversal
-    // @Description: This controls reversal of the RSC channel output
-    // @Values: -1:Reversed,1:Normal
-    // @User: Standard
-    AP_GROUPINFO("RSC_PWM_REV", 18, AP_MotorsHeli_Single, _main_rotor._pwm_rev, 1),
-    
     // parameters up to and including 29 are reserved for tradheli
 
     AP_GROUPEND
@@ -165,9 +144,16 @@ bool AP_MotorsHeli_Single::init_outputs()
         _swash_servo_2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2);
         _swash_servo_3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
         _yaw_servo = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
-        _servo_aux = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, CH_7);
-        if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo || !_servo_aux) {
-            return false;
+        if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
+            _tail_rotor.init_servo();
+            if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo) {
+                return false;
+            }
+        } else {
+            _servo_aux = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, CH_7);
+            if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo || !_servo_aux) {
+                return false;
+            }
         }
     }