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Copter: add support to determine runup complete using manual throttle mode

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bnsgeyer
2026-07-07 06:07:12 -04:00
committed by Bill Geyer
parent 89846c8fe5
commit 0986d74130
1 changed files with 4 additions and 0 deletions
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ArduCopter/heli.cpp
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@@ -101,6 +101,10 @@ void Copter::update_heli_control_dynamics(void)
// set hover roll trim scalar, will ramp from 0 to 1 over 1 second after we think helicopter has taken off
attitude_control->set_hover_roll_trim_scalar((float) hover_roll_trim_scalar_slew/(float) scheduler.get_loop_rate_hz());
// set manual collective mode in motors to aid in runup complete determination in RSC
// if copter is set to a manual throttle flight mode, then heli is using a manual collective mode
motors->set_using_manual_collective_mode(flightmode->has_manual_throttle());
}
bool Copter::should_use_landing_swash() const