aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

TradHeli: Force recalc scalers after setting main loop time in MotorsHeli so that ramp scalers are right for 32-bit.

Browse Source
This commit is contained in:
Robert Lefebvre 2014-07-05 10:11:27 -04:00 committed by Randy Mackay
parent 92bdf24dba
commit aff98e34e5
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/heli.pde
View File

@ -18,6 +18,8 @@ static void heli_init()
{
attitude_control.update_feedforward_filter_rates(MAIN_LOOP_SECONDS);
motors.set_dt(MAIN_LOOP_SECONDS);
// force recalculation of RSC ramp rates after setting _dt
motors.recalc_scalers();
}
// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the g.rc_3.servo_out function