From f2418882240625de7a25e7654e3090703991be70 Mon Sep 17 00:00:00 2001
From: unknown <rmackay9@rmackay9-PC.(none)>
Date: Sat, 29 Oct 2011 20:34:21 +0900
Subject: [PATCH] TradHeli - added TUNE value 13 to allow adjusting of external
 gyro gain using channel 6

---
 ArduCopter/ArduCopter.pde | 7 +++++++
 ArduCopter/defines.h      | 1 +
 2 files changed, 8 insertions(+)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 94ad2fd033..a1247e0810 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1339,6 +1339,13 @@ static void tuning(){
 			g.pi_nav_lat.kP(tuning_value);
 			g.pi_nav_lon.kP(tuning_value);
 			break;
+	
+		#if FRAME_CONFIG == HELI_FRAME
+		case CH6_HELI_EXTERNAL_GYRO:
+			g.rc_6.set_range(1000,2000);
+			g.heli_ext_gyro_gain = tuning_value * 1000;
+			break;
+		#endif
 	}
 }
 
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 003375460a..5d9f3525e6 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -147,6 +147,7 @@
 
 #define CH6_NAV_P 11
 #define CH6_LOITER_P 12
+#define CH6_HELI_EXTERNAL_GYRO 13
 
 // nav byte mask
 // -------------