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TradHeli: Drift mode to use heli manual throttle

This commit is contained in:
Randy Mackay 2014-01-10 11:06:06 +09:00
parent d441354961
commit b3d20bb8aa
2 changed files with 7 additions and 1 deletions
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6
ArduCopter/config.h
View File

@ -112,6 +112,7 @@
# define HELI_ROLL_FF 0 # define HELI_ROLL_FF 0
# define HELI_YAW_FF 0 # define HELI_YAW_FF 0
# define STABILIZE_THR THROTTLE_MANUAL_HELI # define STABILIZE_THR THROTTLE_MANUAL_HELI
# define DRIFT_THR THROTTLE_MANUAL_HELI
# define MPU6K_FILTER 10 # define MPU6K_FILTER 10
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0 # define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000 # define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
@ -520,6 +521,11 @@
# define ACRO_LEVEL_MAX_ANGLE 3000 # define ACRO_LEVEL_MAX_ANGLE 3000
#endif #endif
// Drift Mode
#ifndef DRIFT_THR
# define DRIFT_THR THROTTLE_MANUAL_TILT_COMPENSATED
#endif
// Sport Mode // Sport Mode
#ifndef SPORT_YAW #ifndef SPORT_YAW
# define SPORT_YAW YAW_HOLD # define SPORT_YAW YAW_HOLD

2
ArduCopter/system.pde
View File

@ -479,7 +479,7 @@ static bool set_mode(uint8_t mode)
set_yaw_mode(YAW_DRIFT); set_yaw_mode(YAW_DRIFT);
set_roll_pitch_mode(ROLL_PITCH_DRIFT); set_roll_pitch_mode(ROLL_PITCH_DRIFT);
set_nav_mode(NAV_NONE); set_nav_mode(NAV_NONE);
set_throttle_mode(THROTTLE_MANUAL_TILT_COMPENSATED); set_throttle_mode(DRIFT_THR);
break; break;
case SPORT: case SPORT: