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AltHold - made TradHeli code also use manual_boost

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unknown 2011-11-06 18:25:13 +08:00
parent 755cb4b201
commit 32057fb3c9
1 changed files with 16 additions and 12 deletions
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28
ArduCopter/ArduCopter.pde
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@ -1066,21 +1066,25 @@ void update_throttle_mode(void)
// clear the new data flag
invalid_throttle = false;
}
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle);
#else
angle_boost = get_angle_boost(g.throttle_cruise);
angle_boost = get_angle_boost(g.throttle_cruise);
if(manual_boost != 0){
//remove alt_hold_velocity when implemented
if(manual_boost != 0){
//remove alt_hold_velocity when implemented
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.throttle_cruise + nav_throttle + manual_boost + get_z_damping()));
#else
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping();
// reset next_WP.alt
next_WP.alt = max(current_loc.alt, 100);
}else{
#endif
// reset next_WP.alt
next_WP.alt = max(current_loc.alt, 100);
}else{
#if FRAME_CONFIG == HELI_FRAME
//g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping());
g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.throttle_cruise + nav_throttle + get_z_damping()));
#else
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost + get_z_damping();
}
#endif
#endif
}
break;
}
}