mirror of https://github.com/ArduPilot/ardupilot
TradHeli: ext gyro gain range 0 to 1000
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@ -117,7 +117,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
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// @Param: GYR_GAIN
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// @DisplayName: External Gyro Gain
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// @Description: PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
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// @Range: 1000 2000
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// @Range: 0 1000
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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@ -317,7 +317,7 @@ void AP_MotorsHeli::output_test()
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// external gyro
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if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
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hal.rcout->write(AP_MOTORS_HELI_AUX, _ext_gyro_gain);
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write_aux(_ext_gyro_gain);
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}
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// servo 4
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@ -650,7 +650,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
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// output gain to exernal gyro
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if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
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hal.rcout->write(AP_MOTORS_HELI_AUX, _ext_gyro_gain);
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write_aux(_ext_gyro_gain);
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}
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// to be compatible with other frame types
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@ -58,7 +58,7 @@
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#define AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_FIXEDPITCH 3
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// default external gyro gain (ch7 out)
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#define AP_MOTORS_HELI_EXT_GYRO_GAIN 1350
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#define AP_MOTORS_HELI_EXT_GYRO_GAIN 350
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// minimum outputs for direct drive motors
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#define AP_MOTOR_HELI_DIRECTDRIVE_DEFAULT 500
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