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TradHeli: Fix for yaw offset switching. Yaw Offset should switch on and off with the main motor, not waiting until the rotor has reached full speed.

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Robert Lefebvre 2013-12-14 21:12:32 -05:00 committed by Randy Mackay
parent c7dc351609
commit 782ce54a5c
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -595,7 +595,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
// rudder feed forward based on collective
// the feed-forward is not required when the motor is shut down and not creating torque
// also not required if we are using external gyro
if (motor_runup_complete() && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
if ((_rotor_desired > 0) && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm);
}
}