From 0986d74130ddbe8052a1d94219a938211888d4e7 Mon Sep 17 00:00:00 2001 From: bnsgeyer Date: Tue, 30 Jun 2026 23:57:17 -0400 Subject: [PATCH] Copter: add support to determine runup complete using manual throttle mode --- ArduCopter/heli.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp index 234f3f4e1a5..4b5230bb2f4 100644 --- a/ArduCopter/heli.cpp +++ b/ArduCopter/heli.cpp @@ -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