From 75d76ac3bdfaf27e23f0caf8c8a4c298c6086bdc Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 12 May 2016 17:34:36 +1000 Subject: [PATCH] Copter: fixed scaling of old heli parms --- ArduCopter/Parameters.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index d4cc660a42..5fb143bf3b 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -1043,11 +1043,21 @@ void Copter::convert_pid_parameters(void) { Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" }, { Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" }, { Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" }, +#if FRAME_CONFIG == HELI_FRAME + { Parameters::k_param_pid_rate_roll, 4, AP_PARAM_FLOAT, "ATC_RAT_RLL_VFF" }, + { Parameters::k_param_pid_rate_pitch, 4, AP_PARAM_FLOAT, "ATC_RAT_PIT_VFF" }, + { Parameters::k_param_pid_rate_yaw , 4, AP_PARAM_FLOAT, "ATC_RAT_YAW_VFF" }, +#endif }; AP_Param::ConversionInfo imax_conversion_info[] = { { Parameters::k_param_pid_rate_roll, 5, AP_PARAM_FLOAT, "ATC_RAT_RLL_IMAX" }, { Parameters::k_param_pid_rate_pitch, 5, AP_PARAM_FLOAT, "ATC_RAT_PIT_IMAX" }, - { Parameters::k_param_pid_rate_yaw, 5, AP_PARAM_FLOAT, "ATC_RAT_YAW_IMAX" } + { Parameters::k_param_pid_rate_yaw, 5, AP_PARAM_FLOAT, "ATC_RAT_YAW_IMAX" }, +#if FRAME_CONFIG == HELI_FRAME + { Parameters::k_param_pid_rate_roll, 7, AP_PARAM_FLOAT, "ATC_RAT_RLL_ILMI" }, + { Parameters::k_param_pid_rate_pitch, 7, AP_PARAM_FLOAT, "ATC_RAT_PIT_ILMI" }, + { Parameters::k_param_pid_rate_yaw, 7, AP_PARAM_FLOAT, "ATC_RAT_YAW_ILMI" }, +#endif }; AP_Param::ConversionInfo filt_conversion_info[] = { { Parameters::k_param_pid_rate_roll, 6, AP_PARAM_FLOAT, "ATC_RAT_RLL_FILT" },