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TradHeli: dynamic flight speed minimum to 5m/s

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Randy Mackay 2013-11-16 16:58:14 +09:00
parent a98fb174c4
commit 9485363c53
1 changed files with 1 additions and 3 deletions
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4
ArduCopter/heli.pde
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@ -5,7 +5,7 @@
#if FRAME_CONFIG == HELI_FRAME
#ifndef HELI_DYNAMIC_FLIGHT_SPEED_MIN
#define HELI_DYNAMIC_FLIGHT_SPEED_MIN 100 // we are in "dynamic flight" when the speed is over 1m/s for 2 seconds
#define HELI_DYNAMIC_FLIGHT_SPEED_MIN 500 // we are in "dynamic flight" when the speed is over 1m/s for 2 seconds
#endif
// counter to control dynamic flight profile
@ -148,8 +148,6 @@ static void heli_integrated_swash_controller(int32_t target_roll_rate, int32_t t
roll_ff = g.heli_roll_ff * target_roll_rate;
pitch_ff = g.heli_pitch_ff * target_pitch_rate;
// Joly, I think your PC and CC code goes here
roll_output = roll_p + roll_i + roll_d + roll_ff;
pitch_output = pitch_p + pitch_i + pitch_d + pitch_ff;