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TradHeli: Creating Flybar Acro mode.

This commit is contained in:
Robert Lefebvre 2012-08-21 16:54:01 -04:00
parent 6c0b7b7f53
commit e1d6103045
2 changed files with 14 additions and 0 deletions
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10
ArduCopter/ArduCopter.pde
View File

@ -1640,9 +1640,19 @@ void update_roll_pitch_mode(void)
}else{
// ACRO does not get SIMPLE mode ability
#if FRAME_CONFIG == HELI_FRAME
if (motors.flyarbar_mode == 1){
g.rc_1.servo_out = g.rc_1.control_in;
g.rc_2.servo_out = g.rc_2.control_in;
} else {
g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
}
#else
g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
#endif
}
break;
case ROLL_PITCH_STABLE:

4
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -39,6 +39,10 @@
#define AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH 1
#define AP_MOTORSHELI_RSC_MODE_EXT_GOV 2
// head definitions
#define FLYBARLESS_HEAD 0
#define FLYBAR_HEAD 1
class AP_HeliControls;