diff --git a/conf/airframes/example_heli_lisam.xml b/conf/airframes/example_heli_lisam.xml new file mode 100644 index 0000000000..616a32ed0a --- /dev/null +++ b/conf/airframes/example_heli_lisam.xml @@ -0,0 +1,259 @@ + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c index 1951252929..196dc528fe 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c @@ -43,7 +43,9 @@ #endif #define Actuator(_x) actuators_pwm_values[_x] +#ifndef ChopServo #define ChopServo(x,a,b) Chop(x, a, b) +#endif #define ActuatorsCommit actuators_pwm_commit int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h index b2eda139d3..ad9bc6f23f 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot.h @@ -45,6 +45,7 @@ #define AP_MODE_HOVER_CLIMB 10 #define AP_MODE_HOVER_Z_HOLD 11 #define AP_MODE_NAV 12 +#define AP_MODE_RC_DIRECT 13 // Safety Pilot Direct Commands for helicopter direct control: appropriately chosen as mode "13" extern uint8_t autopilot_mode;