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TradHeli - fix to allow tail servo to be reversed. Also increase max movement of tail servo to 45 degrees.

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unknown 2011-11-05 12:31:30 +08:00
parent 3aee902be1
commit 12f5f3f96e
2 changed files with 7 additions and 6 deletions
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8
ArduCopter/Attitude.pde
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@ -72,15 +72,19 @@ get_stabilize_yaw(long target_angle)
error = rate - (long)(degrees(omega.z) * 100.0);
rate = g.pi_rate_yaw.get_pi(error, G_Dt);
}
// output control:
return (int)constrain(rate, -4500, 4500);
#else
// Rate P:
error = rate - (long)(degrees(omega.z) * 100.0);
rate = g.pi_rate_yaw.get_pi(error, G_Dt);
//Serial.printf("%d\t%d\n", (int)error, (int)rate);
#endif
// output control:
return (int)constrain(rate, -2500, 2500);
#endif
}
#define ALT_ERROR_MAX 300

5
ArduCopter/heli.pde
View File

@ -100,10 +100,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
if( g.heli_servo_3.get_reverse() )
g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out;
if( g.heli_servo_4.get_reverse() )
g.heli_servo_4.servo_out = -yaw_out; // should probably just use rc_4 directly like we do for a tricopter
else
g.heli_servo_4.servo_out = yaw_out;
g.heli_servo_4.servo_out = yaw_out;
// use servo_out to calculate pwm_out and radio_out
g.heli_servo_1.calc_pwm();