Copter: Tradheli moves init_targets_on_arming flag to motors

ArduCopter/mode.cpp

@@ -23,9 +23,6 @@ Copter::Mode::Mode(void) :
     channel_throttle(copter.channel_throttle),
     channel_yaw(copter.channel_yaw),
     G_Dt(copter.G_Dt),
-#if FRAME_CONFIG == HELI_FRAME
-    heli_flags(copter.heli_flags),
-#endif
     ap(copter.ap)
 { };
 

ArduCopter/mode.h

@@ -177,10 +177,6 @@ protected:
     // altitude below which we do no navigation in auto takeoff
     static float auto_takeoff_no_nav_alt_cm;
 
-#if FRAME_CONFIG == HELI_FRAME
-    heli_flags_t &heli_flags;
-#endif
-
     // pass-through functions to reduce code churn on conversion;
     // these are candidates for moving into the Mode base
     // class.

ArduCopter/mode_acro_heli.cpp

@@ -35,19 +35,10 @@ void Copter::ModeAcro_Heli::run()
     // that the servos move in a realistic fashion while disarmed for operational checks.
     // Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
     
-    if(!motors->armed()) {
-        copter.heli_flags.init_targets_on_arming=true;
-        attitude_control->set_attitude_target_to_current_attitude();
+    if (motors->init_targets_on_arming()) {
         attitude_control->reset_rate_controller_I_terms();
-    }
-    
-    if(motors->armed() && copter.heli_flags.init_targets_on_arming) {
         attitude_control->set_attitude_target_to_current_attitude();
-        attitude_control->reset_rate_controller_I_terms();
-        if (motors->get_interlock()) {
-            copter.heli_flags.init_targets_on_arming=false;
-        }
-    }   
+    }
 
     // clear landing flag above zero throttle
     if (motors->armed() && motors->get_interlock() && motors->rotor_runup_complete() && !ap.throttle_zero) {

ArduCopter/mode_althold.cpp

@@ -65,7 +65,6 @@ void Copter::ModeAltHold::run()
 #if FRAME_CONFIG == HELI_FRAME    
         // force descent rate and call position controller
         pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
-        heli_flags.init_targets_on_arming=true;
         if (ap.land_complete_maybe) {
             pos_control->relax_alt_hold_controllers(0.0f);
         }
@@ -76,11 +75,6 @@ void Copter::ModeAltHold::run()
         break;
 
     case AltHold_Takeoff:
-#if FRAME_CONFIG == HELI_FRAME    
-        if (heli_flags.init_targets_on_arming) {
-            heli_flags.init_targets_on_arming=false;
-        }
-#endif
         // set motors to full range
         motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
@@ -117,12 +111,9 @@ void Copter::ModeAltHold::run()
         }
 
 #if FRAME_CONFIG == HELI_FRAME    
-        if (heli_flags.init_targets_on_arming) {
+        if (motors->init_targets_on_arming()) {
             attitude_control->reset_rate_controller_I_terms();
             attitude_control->set_yaw_target_to_current_heading();
-            if (motors->get_interlock()) {
-                heli_flags.init_targets_on_arming=false;
-            }
         }
 #else
         attitude_control->reset_rate_controller_I_terms();

ArduCopter/mode_stabilize_heli.cpp

@@ -28,18 +28,9 @@ void Copter::ModeStabilize_Heli::run()
     // that the servos move in a realistic fashion while disarmed for operational checks.
     // Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
     
-    if(!motors->armed()) {
-        copter.heli_flags.init_targets_on_arming = true;
-        attitude_control->set_yaw_target_to_current_heading();
+    if (motors->init_targets_on_arming()) {
         attitude_control->reset_rate_controller_I_terms();
-    }
-    
-    if(motors->armed() && copter.heli_flags.init_targets_on_arming) {
         attitude_control->set_yaw_target_to_current_heading();
-        attitude_control->reset_rate_controller_I_terms();
-        if (motors->get_interlock()) {
-            copter.heli_flags.init_targets_on_arming=false;
-        }
     }
 
     // clear landing flag above zero throttle