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AP_Motors: TradHeli - fixed servo test function

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bnsgeyer 2017-10-29 00:24:48 -04:00 committed by Randy Mackay
parent 29a8127fed
commit d66a980be3
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -520,11 +520,11 @@ void AP_MotorsHeli_Single::servo_test()
_oscillate_angle += 8 * M_PI / _loop_rate; _oscillate_angle += 8 * M_PI / _loop_rate;
_yaw_test = 0.5f * sinf(_oscillate_angle); _yaw_test = 0.5f * sinf(_oscillate_angle);
} else if (_servo_test_cycle_time >= 5.0f && _servo_test_cycle_time < 6.0f){ // Raise swash to top } else if (_servo_test_cycle_time >= 5.0f && _servo_test_cycle_time < 6.0f){ // Raise swash to top
_collective_test += (1.0f / _loop_rate); _collective_test = 1.0f;
_oscillate_angle += 2 * M_PI / _loop_rate; _oscillate_angle += 2 * M_PI / _loop_rate;
_yaw_test = sinf(_oscillate_angle); _yaw_test = sinf(_oscillate_angle);
} else if (_servo_test_cycle_time >= 11.0f && _servo_test_cycle_time < 12.0f){ // Lower swash to bottom } else if (_servo_test_cycle_time >= 11.0f && _servo_test_cycle_time < 12.0f){ // Lower swash to bottom
_collective_test -= (1.0f / _loop_rate); _collective_test = 0.0f;
_oscillate_angle += 2 * M_PI / _loop_rate; _oscillate_angle += 2 * M_PI / _loop_rate;
_yaw_test = sinf(_oscillate_angle); _yaw_test = sinf(_oscillate_angle);
} else { // reset cycle } else { // reset cycle
@ -541,7 +541,7 @@ void AP_MotorsHeli_Single::servo_test()
} }
// over-ride servo commands to move servos through defined ranges // over-ride servo commands to move servos through defined ranges
_throttle_in = _collective_test; _throttle_filter.reset(_collective_test);
_roll_in = _roll_test; _roll_in = _roll_test;
_pitch_in = _pitch_test; _pitch_in = _pitch_test;
_yaw_in = _yaw_test; _yaw_in = _yaw_test;