AP_Int16heli_ext_gyro_gain;// radio output 1000~2000 (value output on CH_7)
AP_Int8heli_servo_averaging;// 0 or 1 = no averaging (250hz) for **digital servos**, 2=average of two samples (125hz), 3=three samples (83.3hz) **analog servos**, 4=four samples (62.5hz), 5=5 samples(50hz)
AP_Int8heli_servo_manual;// 0 = normal mode, 1 = radio inputs directly control swash. required for swash set-up
AP_Int16heli_phase_angle;// 0 to 360 degrees. specifies mixing between roll and pitch for helis
AP_Floatheli_coll_yaw_effect;// -5.0 ~ 5.0. Feed forward control from collective to yaw. 1.0 = move rudder right 1% for every 1% of collective above the mid point
AP_Floatheli_collective_yaw_effect;// -5.0 ~ 5.0. Feed forward control from collective to yaw. 1.0 = move rudder right 1% for every 1% of collective above the mid point
static int heli_throttle_mid = 0; // throttle mid point in pwm form (i.e. 0 ~ 1000)
static float heli_coll_scalar = 1; // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
static float heli_collective_scalar = 1; // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
@ -128,7 +128,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
@@ -128,7 +128,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
@ -140,12 +140,12 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
@@ -140,12 +140,12 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o