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Plane: fixed tiltrotor build failure

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mixup with merge of RC_Channel changes
This commit is contained in:
Andrew Tridgell 2016-05-11 09:25:32 +10:00
parent a2ae662b3e
commit bcc64e0b4a
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/tiltrotor.cpp
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@ -17,7 +17,7 @@ void QuadPlane::tiltrotor_slew(float newtilt)
tilt.current_tilt = constrain_float(newtilt, tilt.current_tilt-max_change, tilt.current_tilt+max_change);
// translate to 0..1000 range and output
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_motor_tilt, 1000 * tilt.current_tilt);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_motor_tilt, 1000 * tilt.current_tilt);
// setup tilt compensation
motors->set_thrust_compensation_callback(FUNCTOR_BIND_MEMBER(&QuadPlane::tilt_compensate, void, float *, uint8_t));
@ -44,7 +44,7 @@ void QuadPlane::tiltrotor_update(void)
// a forward motor
tiltrotor_slew(1);
float new_throttle = plane.channel_throttle->servo_out*0.01f;
float new_throttle = plane.channel_throttle->get_servo_out()*0.01f;
if (tilt.current_tilt < 1) {
tilt.current_throttle = constrain_float(new_throttle,
tilt.current_throttle-max_change,
@ -98,7 +98,7 @@ void QuadPlane::tiltrotor_update(void)
// Q_TILT_MAX. Anything above 50% throttle gets
// Q_TILT_MAX. Below 50% throttle we decrease linearly. This
// relies heavily on Q_VFWD_GAIN being set appropriately.
float settilt = constrain_float(plane.channel_throttle->servo_out / 50.0f, 0, 1);
float settilt = constrain_float(plane.channel_throttle->get_servo_out() / 50.0f, 0, 1);
tiltrotor_slew(settilt * tilt.max_angle_deg / 90.0f);
}
}