Fix TradHeli Collective Yaw Effect bug.

13 years ago · 56335e81e4
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@ -427,7 +427,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
				@@ -427,7 +427,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll

 		// rudder feed forward based on collective
 		if( !ext_gyro_enabled ) {
-			yaw_offset = collective_yaw_effect * abs(coll_out_scaled - collective_mid);
+			yaw_offset = collective_yaw_effect * abs(coll_out_scaled - throttle_mid);
 		}
 	}