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Copter: Add handle to control Throttle Curve RSC.

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Robert Lefebvre 2015-08-03 13:02:00 -04:00 committed by Randy Mackay
parent 88be4425ac
commit 04af1dd94e
1 changed files with 11 additions and 0 deletions
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11
ArduCopter/heli.cpp
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@ -163,6 +163,17 @@ void Copter::heli_update_rotor_speed_targets()
motors.set_desired_rotor_speed(0);
}
break;
case AP_MOTORS_HELI_RSC_MODE_THROTTLE_CURVE:
// pass setpoint through as desired rotor speed, this is almost pointless as the Setpoint serves no function in this mode
// other than being used to create a crude estimate of rotor speed
if (rsc_control_deglitched > 0) {
motors.set_interlock(true);
motors.set_desired_rotor_speed(motors.get_rsc_setpoint());
}else{
motors.set_interlock(false);
motors.set_desired_rotor_speed(0);
}
break;
}
} else {
// if disarmed, force desired_rotor_speed to Zero