Copter:Heli - governor set_rpm call independent of frame type

ArduCopter/heli.cpp

@@ -146,7 +146,7 @@ void Copter::heli_update_rotor_speed_targets()
     }
     switch (rsc_control_mode) {
         case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH:
-            // pass through pilot desired rotor speed if control input is higher than 10, creating a deadband at the bottom
+            // pass through pilot desired rotor speed from the RC
             if (motors->get_interlock()) {
                 motors->set_desired_rotor_speed(rsc_control_deglitched);
             } else {
@@ -156,9 +156,12 @@ void Copter::heli_update_rotor_speed_targets()
         case ROTOR_CONTROL_MODE_SPEED_SETPOINT:
         case ROTOR_CONTROL_MODE_OPEN_LOOP_POWER_OUTPUT:
         case ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT:
-            // pass setpoint through as desired rotor speed, this is almost pointless as the Setpoint serves no function in this mode
-            // other than being used to create a crude estimate of rotor speed
+            // pass setpoint through as desired rotor speed. Needs work, this is pointless as it is
+            // not used by closed loop control. Being used as a catch-all for other modes regardless
+            // of whether or not they actually use it
+            // set rpm from rotor speed sensor
             if (motors->get_interlock()) {
+                motors->set_rpm(rpm_sensor.get_rpm(0));
                 motors->set_desired_rotor_speed(motors->get_rsc_setpoint());
             }else{
                 motors->set_desired_rotor_speed(0.0f);