Copter: bug fix for heli_control_acro throttle

ArduCopter/heli_control_acro.pde

@@ -17,6 +17,7 @@ static bool heli_acro_init(bool ignore_checks)
 static void heli_acro_run()
 {
     int16_t target_roll, target_pitch, target_yaw;
+    int16_t pilot_throttle_scaled;
 
     // if not armed or main rotor not up to full speed clear stabilized rate errors
     // unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
@@ -29,7 +30,14 @@ static void heli_acro_run()
     // convert the input to the desired body frame rate
     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);
 
+    // get pilot's desired throttle
+    pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
+
+    // run attitude controller
     attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);
+
+    // output pilot's throttle without angle boost
+    attitude_control.set_throttle_out(pilot_throttle_scaled, false);
 }
 
 #endif  //HELI_FRAME