Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

TradHeli: bugfix to update swash in run_rate_controllers

This commit is contained in:
Randy Mackay 2013-11-06 14:47:06 +09:00
parent 34fb70cfc7
commit eaef5315bf
1 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduCopter/Attitude.pde
View File

@ -442,10 +442,15 @@ update_rate_contoller_targets()
void void
run_rate_controllers() run_rate_controllers()
{ {
#if FRAME_CONFIG == HELI_FRAME // helicopters only use rate controllers for yaw and only when not using an external gyro #if FRAME_CONFIG == HELI_FRAME
if(!motors.ext_gyro_enabled()) { // convert desired roll and pitch rate to roll and pitch swash angles
heli_integrated_swash_controller(roll_rate_target_bf, pitch_rate_target_bf); heli_integrated_swash_controller(roll_rate_target_bf, pitch_rate_target_bf);
// helicopters only use rate controllers for yaw and only when not using an external gyro
if(!motors.ext_gyro_enabled()) {
g.rc_4.servo_out = get_heli_rate_yaw(yaw_rate_target_bf); g.rc_4.servo_out = get_heli_rate_yaw(yaw_rate_target_bf);
}else{
// do not use rate controllers for helicotpers with external gyros
g.rc_4.servo_out = constrain_int32(yaw_rate_target_bf, -4500, 4500);
} }
#else #else
// call rate controllers // call rate controllers