From 63bafa2c7fdc8b7506939ae6bc3e7618f50b4be5 Mon Sep 17 00:00:00 2001 From: bnsgeyer Date: Tue, 7 Nov 2017 19:47:02 -0500 Subject: [PATCH] AP_Motors: Tradheli- fixes servo_test function for Dual Heli frame --- libraries/AP_Motors/AP_MotorsHeli_Dual.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp index 493710fd45..837f7d442e 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp @@ -562,10 +562,10 @@ void AP_MotorsHeli_Dual::servo_test() _pitch_test -= (1.0f / (_loop_rate/2)); _oscillate_angle += 8 * M_PI / _loop_rate; } else if (_servo_test_cycle_time >= 5.0f && _servo_test_cycle_time < 6.0f){ // Raise swash to top - _collective_test += (1.0f / _loop_rate); + _collective_test = 1.0f; _oscillate_angle += 2 * M_PI / _loop_rate; } else if (_servo_test_cycle_time >= 11.0f && _servo_test_cycle_time < 12.0f){ // Lower swash to bottom - _collective_test -= (1.0f / _loop_rate); + _collective_test = 0.0f; _oscillate_angle += 2 * M_PI / _loop_rate; } else { // reset cycle _servo_test_cycle_time = 0.0f; @@ -581,7 +581,7 @@ void AP_MotorsHeli_Dual::servo_test() // over-ride servo commands to move servos through defined ranges - _throttle_in = _collective_test; + _throttle_filter.reset(_collective_test); _roll_in = _roll_test; _pitch_in = _pitch_test; }