AP_Motors: Heli: Fix SWSH logging for reversed collectives #27234
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MattKear
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IamPete1
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Jun 5, 2024
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We tested this fix, collective now coming out as expected.
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IamPete1
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Jun 5, 2024
Co-authored-by: Peter Hall <[email protected]>
bnsgeyer
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Jun 9, 2024
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I didn't account for reversed collective directions correctly in my original PR that added swash plate angle logging: #26606
Plot below shows the issue. This aircraft has two reversed collectives and the collective angle range has come out reversed:
This fix up resolves the issue by storing the collective value before we apply the collective reversal for the control outputs.