From c3e7eed2994b160d876de03aca7d8cb5f369ad5b Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Fri, 7 Aug 2015 20:54:44 -0400 Subject: [PATCH] AP_MotorsHeli_Single: Fix recalc_scalars function --- libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp index e241afbf2c..692a4deca8 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp @@ -220,10 +220,10 @@ void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed) // recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters void AP_MotorsHeli_Single::recalc_scalers() { - if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_SETPOINT) { - _tail_rotor.set_ramp_time(0); - _tail_rotor.set_runup_time(0); - _tail_rotor.set_critical_speed(0); + if (_rsc_mode == AP_MOTORS_HELI_RSC_MODE_NONE) { + _main_rotor.set_ramp_time(0); + _main_rotor.set_runup_time(0); + _main_rotor.set_critical_speed(0); } else { _main_rotor.set_ramp_time(_rsc_ramp_time); _main_rotor.set_runup_time(_rsc_runup_time);