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Small fix on the Traditional Helicopter Collective-Yaw compensation calculation.

This commit is contained in:
Robert Lefebvre 2012-03-15 20:14:18 -04:00
parent 68e37774a6
commit be3fe36c52
1 changed files with 1 additions and 1 deletions
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ArduCopter/heli.pde
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@ -204,7 +204,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
// rudder feed forward based on collective // rudder feed forward based on collective
#if HIL_MODE == HIL_MODE_DISABLED // don't do rudder feed forward in simulator #if HIL_MODE == HIL_MODE_DISABLED // don't do rudder feed forward in simulator
if( !g.heli_ext_gyro_enabled ) { if( !g.heli_ext_gyro_enabled ) {
yaw_offset = g.heli_collective_yaw_effect * abs(coll_out_scaled - g.heli_collective_mid); yaw_offset = g.heli_collective_yaw_effect * abs(coll_out_scaled - heli_throttle_mid);
} }
#endif #endif
} }