From 2cd6d986d5400a8c6804446908aefb6b3ebd9ccf Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 20 Aug 2014 22:14:48 +0900
Subject: [PATCH] TradHeli: call passthrough_bf_roll_pitch_rate_yaw
---
ArduCopter/heli_control_acro.pde | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/ArduCopter/heli_control_acro.pde b/ArduCopter/heli_control_acro.pde
index 068569c4b..4f3feb8d1 100644
--- a/ArduCopter/heli_control_acro.pde
+++ b/ArduCopter/heli_control_acro.pde
@@ -39,14 +39,15 @@ static void heli_acro_run()
if (!motors.has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
+ // run attitude controller
+ attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}else{
// flybar helis only need yaw rate control
get_pilot_desired_yaw_rate(g.rc_4.control_in, target_yaw);
+ // run attitude controller
+ attitude_control.passthrough_bf_roll_pitch_rate_yaw(g.rc_1.control_in, g.rc_2.control_in, target_yaw);
}
- // run attitude controller
- attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
-
// output pilot's throttle without angle boost
attitude_control.set_throttle_out(g.rc_3.control_in, false);
}
--
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