TradHeli: Add Heli.h file

ArduCopter/ArduCopter.pde

@@ -166,6 +166,9 @@ static AP_Vehicle::MultiCopter aparm;
 // Local modules
 #include "Parameters.h"
 
+// Heli modules
+#include "heli.h"
+
 ////////////////////////////////////////////////////////////////////////////////
 // cliSerial
 ////////////////////////////////////////////////////////////////////////////////

ArduCopter/heli.h

@@ -0,0 +1,21 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#ifndef __HELI_H__
+#define __HELI_H__
+
+// Traditional helicopter variables and functions
+
+#if FRAME_CONFIG == HELI_FRAME
+
+// Mode filter to reject RC Input glitches.  Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
+// and 1 high glitch.  This is because any "off" glitches can be highly problematic for a helicopter running an ESC
+// governor.  Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
+ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
+
+// Tradheli flags
+static struct {
+    uint8_t dynamic_flight  : 1;    // 0   // true if we are moving at a significant speed (used to turn on/off leaky I terms)
+} heli_flags;
+
+#endif  // FRAME_CONFIG == HELI_FRAME
+#endif  // __HELI_H__

ArduCopter/heli.pde

@@ -2,6 +2,8 @@
 
 // Traditional helicopter variables and functions
 
+#include "heli.h"
+
 #if FRAME_CONFIG == HELI_FRAME
 
 #ifndef HELI_DYNAMIC_FLIGHT_SPEED_MIN
@@ -11,18 +13,6 @@
 // counter to control dynamic flight profile
 static int8_t heli_dynamic_flight_counter;
 
-// Mode filter to reject RC Input glitches.  Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
-// and 1 high glitch.  This is because any "off" glitches can be highly problematic for a helicopter running an ESC
-// governor.  Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
-ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
-
-// Tradheli flags
-static struct {
-    uint8_t dynamic_flight  : 1;    // 0   // true if we are moving at a significant speed (used to turn on/off leaky I terms)
-} heli_flags;
-
-
-
 // heli_init - perform any special initialisation required for the tradheli
 static void heli_init()
 {