Copter: integrate heli_control_acro

11 years ago · ec989c720c
2 changed files with 10 additions and 2 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -1448,7 +1448,11 @@ static void update_flight_mode()
				@@ -1448,7 +1448,11 @@ static void update_flight_mode()
 {
    switch (control_mode) {
        case ACRO:
-            acro_run();
+            #if FRAME_CONFIG == HELI_FRAME
+                heli_acro_run();
+            #else
+                acro_run();
+            #endif
            break;

        case STABILIZE:
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@ -387,7 +387,11 @@ static bool set_mode(uint8_t mode)
				@@ -387,7 +387,11 @@ static bool set_mode(uint8_t mode)

    switch(mode) {
        case ACRO:
-            success = acro_init(ignore_checks);
+            #if FRAME_CONFIG == HELI_FRAME
+                success = heli_acro_init(ignore_checks);
+            #else
+                success = acro_init(ignore_checks);
+            #endif
            break;

        case STABILIZE: