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28 lines
808 B
28 lines
808 B
11 years ago
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == HELI_FRAME
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/*
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* heli_control_acro.pde - init and run calls for acro flight mode for trad heli
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*/
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// heli_acro_init - initialise acro controller
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static bool heli_acro_init(bool ignore_checks)
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{
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return true;
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}
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// heli_acro_run - runs the acro controller
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// should be called at 100hz or more
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static void heli_acro_run()
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{
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int16_t target_roll, target_pitch, target_yaw;
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// To-Do: add support for flybarred helis
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// convert the input to the desired body frame rate
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get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
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attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);
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}
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#endif //HELI_FRAME
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