ACM: TradHeli

Creating Rate Feed-Forward Parameters

ArduCopter/Parameters.h

@@ -85,6 +85,9 @@ public:
         k_param_heli_servo_2,
         k_param_heli_servo_3,
         k_param_heli_servo_4,
+		k_param_heli_pitch_ff,
+		k_param_heli_roll_ff,
+		k_param_heli_yaw_ff,
 
         //
         // 90: Motors
@@ -319,13 +322,10 @@ public:
 
 #if FRAME_CONFIG ==     HELI_FRAME
     // Heli
-    RC_Channel        heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4;   //
-                                                                                // servos
-                                                                                // for
-                                                                                // swash
-                                                                                // plate
-                                                                                // and
-                                                                                // tail
+    RC_Channel        heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4;   // servos for swash plate and tail
+	AP_Float		heli_pitch_ff;												// pitch rate feed-forward
+	AP_Float		heli_roll_ff;												// roll rate feed-forward
+	AP_Float		heli_yaw_ff;												// yaw rate feed-forward																			
 #endif
 
     // Camera

ArduCopter/Parameters.pde

@@ -267,6 +267,9 @@ const AP_Param::Info var_info[] PROGMEM = {
     GGROUP(heli_servo_2,    "HS2_", RC_Channel),
     GGROUP(heli_servo_3,    "HS3_", RC_Channel),
     GGROUP(heli_servo_4,    "HS4_", RC_Channel),
+	GSCALAR(heli_pitch_ff, "H_PITCH_FF",            HELI_PITCH_FF),
+	GSCALAR(heli_roll_ff, "H_ROLL_FF",            HELI_ROLL_FF),
+	GSCALAR(heli_yaw_ff, "H_YAW_FF",            HELI_YAW_FF),
 #endif
 
 #if CAMERA == ENABLED