TradHeli: Creating Flybar Acro mode.

ArduCopter/ArduCopter.pde

@@ -1640,8 +1640,18 @@ void update_roll_pitch_mode(void)
 
 			}else{
 				// ACRO does not get SIMPLE mode ability
+				#if FRAME_CONFIG == HELI_FRAME
+				if (motors.flyarbar_mode == 1){
+					g.rc_1.servo_out = g.rc_1.control_in;
+					g.rc_2.servo_out = g.rc_2.control_in;
+				} else {
+					g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
+					g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
+				}
+				#else			
 				g.rc_1.servo_out = get_acro_roll(g.rc_1.control_in);
 				g.rc_2.servo_out = get_acro_pitch(g.rc_2.control_in);
+				#endif
 			}
 			break;
 

libraries/AP_Motors/AP_MotorsHeli.h

@@ -39,6 +39,10 @@
 #define AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH  1
 #define AP_MOTORSHELI_RSC_MODE_EXT_GOV			2
 
+// head definitions
+#define FLYBARLESS_HEAD 0
+#define FLYBAR_HEAD 1
+
 
 class AP_HeliControls;