ACM: TradHeli

Fix to make update_throttle_cruise work with stab_throttle scaling.

ArduCopter/ArduCopter.pde

@@ -1866,7 +1866,12 @@ void update_throttle_mode(void)
             set_throttle_out(g.rc_3.control_in, false);
 
             // update estimate of throttle cruise
-            update_throttle_cruise(g.rc_3.control_in);
+			#if FRAME_CONFIG == HELI_FRAME
+            update_throttle_cruise(motors.coll_out);
+			#else
+			update_throttle_cruise(g.rc_3.control_in);
+			#endif  //HELI_FRAME
+			
 
             // check if we've taken off yet
             if (!ap.takeoff_complete && motors.armed()) {
@@ -1886,7 +1891,11 @@ void update_throttle_mode(void)
             set_throttle_out(g.rc_3.control_in, true);
 
             // update estimate of throttle cruise
-            update_throttle_cruise(g.rc_3.control_in);
+            #if FRAME_CONFIG == HELI_FRAME
+            update_throttle_cruise(motors.coll_out);
+			#else
+			update_throttle_cruise(g.rc_3.control_in);
+			#endif  //HELI_FRAME
 
             if (!ap.takeoff_complete && motors.armed()) {
                 if (g.rc_3.control_in > g.throttle_cruise) {

ArduCopter/Attitude.pde

@@ -699,7 +699,6 @@ get_of_pitch(int32_t input_pitch)
  * yaw controllers
  *************************************************************/
 
- // update_throttle_cruise - update throttle cruise if necessary
 static void get_look_ahead_yaw(int16_t pilot_yaw)
 {
     // Commanded Yaw to automatically look ahead.

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -445,7 +445,7 @@ void AP_MotorsHeli::init_swash()
 //                       collective: 0 ~ 1000
 //                       yaw:   -4500 ~ 4500
 //
-void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_out, int16_t yaw_out)
+void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out)
 {
     int16_t yaw_offset = 0;
     int16_t coll_out_scaled;
@@ -455,7 +455,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
         if( _swash_initialised ) {
             reset_swash();
         }
-        coll_out_scaled = coll_out * _collective_scalar + _rc_throttle->radio_min - 1000;
+        coll_out_scaled = coll_in * _collective_scalar + _rc_throttle->radio_min - 1000;
     }else{      // regular flight mode
 
         // check if we need to reinitialise the swash
@@ -475,7 +475,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
         pitch_out = constrain(pitch_out, (int16_t)-pitch_max, (int16_t)pitch_max);
 
         // scale collective pitch
-        coll_out = constrain(coll_out, 0, 1000);
+        coll_out = constrain(coll_in, 0, 1000);
 		if (stab_throttle){
 			coll_out = coll_out * _stab_throttle_scalar + stab_col_min*10;
 		}

libraries/AP_Motors/AP_MotorsHeli.h

@@ -106,7 +106,7 @@ public:
 	AP_Int8 stab_col_min;						// collective pitch minimum in Stabilize Mode
 	AP_Int8 stab_col_max;						// collective pitch maximum in Stabilize Mode
 	bool stab_throttle;							// true if we are in Stabilize Mode for reduced Swash Range
-
+	AP_Int16 coll_out;							// returns the actual collective in use to the main code
 
     // init
     void Init();
@@ -141,7 +141,7 @@ public:
 protected:
 
     // heli_move_swash - moves swash plate to attitude of parameters passed in
-    void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_out, int16_t yaw_out);
+    void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out);
 
     // reset_swash - free up swash for maximum movements. Used for set-up
     void reset_swash();