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@ -72,9 +72,9 @@ void Copter::ModeAcro_Heli::run()
@@ -72,9 +72,9 @@ void Copter::ModeAcro_Heli::run()
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get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw); |
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if (g.acro_trainer == ACRO_TRAINER_DISABLED) { |
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if (ap.land_complete) { |
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virtual_flybar(target_roll, target_pitch, target_yaw, 3.0f, 3.0f) |
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virtual_flybar(target_roll, target_pitch, target_yaw, 3.0f, 3.0f); |
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} else { |
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virtual_flybar(target_roll, target_pitch, target_yaw, g.acro_balance_pitch, g.acro_balance_roll) |
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virtual_flybar(target_roll, target_pitch, target_yaw, g.acro_balance_pitch, g.acro_balance_roll); |
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} |
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} |
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if (motors->supports_yaw_passthrough()) { |
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