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TradHeli - reversed the direction of "phase angle" to make it more intuitive. This parameter is used to correct for a heli's tendency to lean left or right when the pilot gives it a pitch forward command.

This commit is contained in:
Randy Mackay 2011-11-13 22:40:46 +09:00
parent 4d22385266
commit d804b28638
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/heli.pde
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@ -28,14 +28,14 @@ static void heli_init_swash()
g.heli_servo_4.set_angle(4500);
// pitch factors
heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos + g.heli_phase_angle));
heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos + g.heli_phase_angle));
heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos + g.heli_phase_angle));
heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos - g.heli_phase_angle));
heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos - g.heli_phase_angle));
heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos - g.heli_phase_angle));
// roll factors
heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90 + g.heli_phase_angle));
heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 + g.heli_phase_angle));
heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 + g.heli_phase_angle));
heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90 - g.heli_phase_angle));
heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 - g.heli_phase_angle));
heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 - g.heli_phase_angle));
// collective min / max
total_tilt_max = 0;