From ff71b0fa35eefc134b090fb46e6322fb2eea6c76 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Fri, 9 May 2014 17:07:52 -0400
Subject: [PATCH] TradHeli: Create new function to move data between
 AP_MotorsHeli and AP_AttitudeControl.

---
 ArduCopter/ArduCopter.pde |  4 ++++
 ArduCopter/heli.pde       | 14 ++++++++++----
 2 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 94b6669092..b19f205b3d 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -988,6 +988,10 @@ static void fast_loop()
 
     // run low level rate controllers that only require IMU data
     attitude_control.rate_controller_run();
+    
+#if FRAME_CONFIG == HELI_FRAME
+    update_heli_control_dynamics();
+#endif //HELI_FRAME
 
     // write out the servo PWM values
     // ------------------------------
diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index 0a354e1f3a..17b2257c5f 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -68,8 +68,6 @@ static void check_dynamic_flight(void)
             if (heli_dynamic_flight_counter >= 100) {
                 heli_flags.dynamic_flight = true;
                 heli_dynamic_flight_counter = 100;
-                // update attitude control's leaky i term setting
-                attitude_control.use_leaky_i(!heli_flags.dynamic_flight);
             }
         }
     }else{
@@ -79,13 +77,21 @@ static void check_dynamic_flight(void)
                 heli_dynamic_flight_counter--;
             }else{
                 heli_flags.dynamic_flight = false;
-                // update attitude control's leaky i term setting
-                attitude_control.use_leaky_i(!heli_flags.dynamic_flight);
             }
         }
     }
 }
 
+// update_heli_control_dynamics - pushes several important factors up into AP_MotorsHeli.
+// should be run between the rate controller and the servo updates.
+static void update_heli_control_dynamics(void)
+{
+    // Use Leaky_I if we are not moving fast
+    attitude_control.use_leaky_i(!heli_flags.dynamic_flight);
+    
+    // To-Do: Update dynamic phase angle of swashplate
+}
+
 // heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing
 // should be called soon after update_land_detector in main code
 static void heli_update_landing_swash()