AP_Motors: added H_GYR_GAIN_ACRO

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -71,7 +71,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] PROGMEM = {
     // @Units: PWM
     // @Increment: 1
     // @User: Standard
-    AP_GROUPINFO("GYR_GAIN", 6, AP_MotorsHeli_Single, _ext_gyro_gain, AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN),
+    AP_GROUPINFO("GYR_GAIN", 6, AP_MotorsHeli_Single, _ext_gyro_gain_std, AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN),
 
     // @Param: PHANG
     // @DisplayName: Swashplate Phase Angle Compensation
@@ -105,6 +105,15 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] PROGMEM = {
     // @User: Standard
     AP_GROUPINFO("TAIL_SPEED", 10, AP_MotorsHeli_Single, _direct_drive_tailspeed, AP_MOTORS_HELI_SINGLE_DDVPT_SPEED_DEFAULT),
 
+    // @Param: GYR_GAIN_ACRO
+    // @DisplayName: External Gyro Gain for ACRO
+    // @Description: PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN
+    // @Range: 0 1000
+    // @Units: PWM
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("GYR_GAIN_ACRO", 11, AP_MotorsHeli_Single,  _ext_gyro_gain_acro, 0),
+    
     AP_GROUPEND
 };
 
@@ -181,7 +190,11 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
         case 4:
             // external gyro & tail servo
             if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
-                write_aux(_ext_gyro_gain);
+                if (_acro_tail && _ext_gyro_gain_acro > 0) {
+                    write_aux(_ext_gyro_gain_acro);
+                } else {
+                    write_aux(_ext_gyro_gain_std);
+                }
             }
             hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
             break;
@@ -456,7 +469,11 @@ void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out)
 
     if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
         // output gain to exernal gyro
-        write_aux(_ext_gyro_gain);
+        if (_acro_tail && _ext_gyro_gain_acro > 0) {
+            write_aux(_ext_gyro_gain_acro);
+        } else {
+            write_aux(_ext_gyro_gain_std);
+        }
     } else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) {
         // output yaw servo to tail rsc
         write_aux(_yaw_servo.servo_out);

libraries/AP_Motors/AP_MotorsHeli_Single.h

@@ -106,8 +106,8 @@ public:
     int16_t tail_type() const { return _tail_type; }
 
     // ext_gyro_gain - gets and sets external gyro gain as a pwm (1000~2000)
-    int16_t ext_gyro_gain() const { return _ext_gyro_gain; }
-    void ext_gyro_gain(int16_t pwm) { _ext_gyro_gain = pwm; }
+    int16_t ext_gyro_gain() const { return _ext_gyro_gain_std; }
+    void ext_gyro_gain(int16_t pwm) { _ext_gyro_gain_std = pwm; }
 
     // has_flybar - returns true if we have a mechical flybar
     bool has_flybar() const { return _flybar_mode; }
@@ -121,6 +121,8 @@ public:
     // set_delta_phase_angle for setting variable phase angle compensation and force
     // recalculation of collective factors
     void set_delta_phase_angle(int16_t angle);
+
+    void set_acro_tail(bool set) { _acro_tail = set; }
     
     // var_info
     static const struct AP_Param::GroupInfo var_info[];
@@ -161,12 +163,14 @@ protected:
     AP_Int16        _servo3_pos;                // Angular location of swash servo #3    
     AP_Int16        _tail_type;                 // Tail type used: Servo, Servo with external gyro, direct drive variable pitch or direct drive fixed pitch
     AP_Int8         _swash_type;                // Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing
-    AP_Int16        _ext_gyro_gain;             // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
+    AP_Int16        _ext_gyro_gain_std;         // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
+    AP_Int16        _ext_gyro_gain_acro;        // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro in ACRO
     AP_Int16        _phase_angle;               // Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem
     AP_Float        _collective_yaw_effect;     // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
     AP_Int8         _flybar_mode;               // Flybar present or not.  Affects attitude controller used during ACRO flight mode
     AP_Int16        _direct_drive_tailspeed;    // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
 
+    bool            _acro_tail = false;
 };
 
 #endif  // __AP_MOTORS_HELI_SINGLE_H__