Plane: tailsitter pull in copter ouputs from AP_motors

ArduPlane/tailsitter.cpp

@@ -108,6 +108,12 @@ void QuadPlane::tailsitter_output(void)
     plane.pitchController.reset_I();
     plane.rollController.reset_I();
 
+    // pull in copter control outputs
+    SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw())*-SERVO_MAX);
+    SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch())*SERVO_MAX);
+    SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll())*SERVO_MAX);
+    SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, (motors->get_throttle()) * 100);
+
     if (hal.util->get_soft_armed()) {
         // scale surfaces for throttle
         tailsitter_speed_scaling();
@@ -123,12 +129,12 @@ void QuadPlane::tailsitter_output(void)
           takeoff without integrator windup
          */
         int32_t pitch_error_cd = (plane.nav_pitch_cd - ahrs_view->pitch_sensor) * 0.5;
-        float extra_pitch = constrain_float(pitch_error_cd, -4500, 4500) / 4500.0;
+        float extra_pitch = constrain_float(pitch_error_cd, -SERVO_MAX, SERVO_MAX) / SERVO_MAX;
         float extra_sign = extra_pitch > 0?1:-1;
-        float extra_elevator = extra_sign * powf(fabsf(extra_pitch), tailsitter.vectored_hover_power) * 4500;
+        float extra_elevator = extra_sign * powf(fabsf(extra_pitch), tailsitter.vectored_hover_power) * SERVO_MAX;
         tilt_left  = extra_elevator + tilt_left * tailsitter.vectored_hover_gain;
         tilt_right = extra_elevator + tilt_right * tailsitter.vectored_hover_gain;
-        if (fabsf(tilt_left) >= 4500 || fabsf(tilt_right) >= 4500) {
+        if (fabsf(tilt_left) >= SERVO_MAX || fabsf(tilt_right) >= SERVO_MAX) {
             // prevent integrator windup
             motors->limit.roll_pitch = 1;
             motors->limit.yaw = 1;