From 5c04af6d2015a5e7ef80d16dbf60dee12fc6d868 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Thu, 3 Jul 2014 14:08:32 -0400
Subject: [PATCH] AC_AttitudeControl_Heli: Create Flybar Passthrough flag which
will be used for control pass-through.
---
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h | 9 +++++----
1 file changed, 5 insertions(+), 4 deletions(-)
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
index 4fe6aa4a2..445fb4fbf 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -47,10 +47,11 @@ private:
// To-Do: move these limits flags into the heli motors class
struct AttControlHeliFlags {
- uint8_t limit_roll : 1; // 1 if we have requested larger roll angle than swash can physically move
- uint8_t limit_pitch : 1; // 1 if we have requested larger pitch angle than swash can physically move
- uint8_t limit_yaw : 1; // 1 if we have requested larger yaw angle than tail servo can physically move
- uint8_t leaky_i : 1; // 1 if we should use leaky i term for body-frame rate to motor stage
+ uint8_t limit_roll : 1; // 1 if we have requested larger roll angle than swash can physically move
+ uint8_t limit_pitch : 1; // 1 if we have requested larger pitch angle than swash can physically move
+ uint8_t limit_yaw : 1; // 1 if we have requested larger yaw angle than tail servo can physically move
+ uint8_t leaky_i : 1; // 1 if we should use leaky i term for body-frame rate to motor stage
+ uint8_t flybar_passthrough : 1; // 1 if we should pass through pilots input directly to swash-plate
} _flags_heli;
//
--
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