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TradHeli: ext gyro gain range 0 to 1000

This commit is contained in:
Randy Mackay 2013-11-08 17:32:50 +09:00
parent 197fc67897
commit bc4dba0eea
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -117,7 +117,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Param: GYR_GAIN // @Param: GYR_GAIN
// @DisplayName: External Gyro Gain // @DisplayName: External Gyro Gain
// @Description: PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro // @Description: PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
// @Range: 1000 2000 // @Range: 0 1000
// @Units: PWM // @Units: PWM
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard
@ -317,7 +317,7 @@ void AP_MotorsHeli::output_test()
// external gyro // external gyro
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) { if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
hal.rcout->write(AP_MOTORS_HELI_AUX, _ext_gyro_gain); write_aux(_ext_gyro_gain);
} }
// servo 4 // servo 4
@ -650,7 +650,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
// output gain to exernal gyro // output gain to exernal gyro
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) { if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
hal.rcout->write(AP_MOTORS_HELI_AUX, _ext_gyro_gain); write_aux(_ext_gyro_gain);
} }
// to be compatible with other frame types // to be compatible with other frame types

2
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -58,7 +58,7 @@
#define AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_FIXEDPITCH 3 #define AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_FIXEDPITCH 3
// default external gyro gain (ch7 out) // default external gyro gain (ch7 out)
#define AP_MOTORS_HELI_EXT_GYRO_GAIN 1350 #define AP_MOTORS_HELI_EXT_GYRO_GAIN 350
// minimum outputs for direct drive motors // minimum outputs for direct drive motors
#define AP_MOTOR_HELI_DIRECTDRIVE_DEFAULT 500 #define AP_MOTOR_HELI_DIRECTDRIVE_DEFAULT 500