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TradHeli: call passthrough_bf_roll_pitch_rate_yaw

This commit is contained in:
Randy Mackay 2014-08-20 22:14:48 +09:00
parent 440f4ebb95
commit c7d6b026b5
1 changed files with 4 additions and 3 deletions
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7
ArduCopter/heli_control_acro.pde
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@ -39,14 +39,15 @@ static void heli_acro_run()
if (!motors.has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
// run attitude controller
attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}else{
// flybar helis only need yaw rate control
get_pilot_desired_yaw_rate(g.rc_4.control_in, target_yaw);
// run attitude controller
attitude_control.passthrough_bf_roll_pitch_rate_yaw(g.rc_1.control_in, g.rc_2.control_in, target_yaw);
}
// run attitude controller
attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
// output pilot's throttle without angle boost
attitude_control.set_throttle_out(g.rc_3.control_in, false);
}