From 782ce54a5c7a0807bb615f0152e1ea53a1d080ac Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Sat, 14 Dec 2013 21:12:32 -0500 Subject: [PATCH] TradHeli: Fix for yaw offset switching. Yaw Offset should switch on and off with the main motor, not waiting until the rotor has reached full speed. --- libraries/AP_Motors/AP_MotorsHeli.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp index ef89ef6a03..304f6bc477 100644 --- a/libraries/AP_Motors/AP_MotorsHeli.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli.cpp @@ -595,7 +595,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll // rudder feed forward based on collective // the feed-forward is not required when the motor is shut down and not creating torque // also not required if we are using external gyro - if (motor_runup_complete() && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) { + if ((_rotor_desired > 0) && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) { yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm); } }