From 7d3e22af5952f1fc10b3a517c69c562d3e527728 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Thu, 3 Jul 2014 15:52:22 -0400
Subject: [PATCH] AC_AttitudeControl_Heli: Add use_flybar_passthrough accessor
function.
---
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h | 3 +++
1 file changed, 3 insertions(+)
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
index 4642b804e..c9f9a4ea1 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -41,6 +41,9 @@ public:
// use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage
void use_leaky_i(bool leaky_i) { _flags_heli.leaky_i = leaky_i; }
+ // use_flybar_passthrough - controls whether we pass-through control inputs to swash-plate
+ void use_flybar_passthrough(bool passthrough) { _flags_heli.flybar_passthrough = passthrough; }
+
void update_feedforward_filter_rates(float time_step);
// user settable parameters
--
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