/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #if FRAME_CONFIG == HELI_FRAME /* * heli_control_acro.pde - init and run calls for acro flight mode for trad heli */ // heli_acro_init - initialise acro controller static bool heli_acro_init(bool ignore_checks) { // always successfully enter acro return true; } // heli_acro_run - runs the acro controller // should be called at 100hz or more static void heli_acro_run() { float target_roll, target_pitch, target_yaw; int16_t pilot_throttle_scaled; // if not armed or main rotor not up to full speed clear stabilized rate errors // unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move if(!motors.armed() || !motors.motor_runup_complete()) { attitude_control.relax_bf_rate_controller(); attitude_control.set_yaw_target_to_current_heading(); } // To-Do: add support for flybarred helis // convert the input to the desired body frame rate get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw); // get pilot's desired throttle pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in); // run attitude controller attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw); // output pilot's throttle without angle boost attitude_control.set_throttle_out(pilot_throttle_scaled, false); } #endif //HELI_FRAME