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Copter: fixed deadzone for acro with extgyro and no flybar

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Andrew Tridgell 2015-11-21 06:51:21 +11:00 committed by Randy Mackay
parent d8ee9feaac
commit f5d73a9d10
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/heli_control_acro.cpp
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@ -53,6 +53,14 @@ void Copter::heli_acro_run()
if (!motors.has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
if (motors.supports_yaw_passthrough()) {
// if the tail on a flybar heli has an external gyro then
// also use no deadzone for the yaw control and
// pass-through the input direct to output.
target_yaw = channel_yaw->pwm_to_angle_dz(0);
}
// run attitude controller
attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}else{