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AP_Motors: Heli: Fix SWSH logging for reversed collectives #27234

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merged 2 commits into from
Jun 9, 2024
Merged

AP_Motors: Heli: Fix SWSH logging for reversed collectives #27234

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8df1b81
AP_Motors: Heli: Fix SWSH logging for reversed collectives
MattKear Jun 3, 2024
4922383
AP_Motors: fix spacing
bnsgeyer Jun 9, 2024
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11 changes: 6 additions & 5 deletions libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -211,16 +211,17 @@ void AP_MotorsHeli_Swash::add_servo_raw(uint8_t num, float roll, float pitch, fl
// calculates servo output
void AP_MotorsHeli_Swash::calculate(float roll, float pitch, float collective)
{
// Collective control direction. Swash moves up for negative collective pitch, down for positive collective pitch
if (_collective_direction == COLLECTIVE_DIRECTION_REVERSED){
collective = 1 - collective;
}

// Store inputs for logging
// Store inputs for logging, store col before col reversal to ensure logging comes out with the correct sign (+/-)
_roll_input = roll;
_pitch_input = pitch;
_collective_input_scaled = collective;

// Collective control direction. Swash moves up for negative collective pitch, down for positive collective pitch
if (_collective_direction == COLLECTIVE_DIRECTION_REVERSED){
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collective = 1 - collective;
}

for (uint8_t i = 0; i < _max_num_servos; i++) {
if (!_enabled[i]) {
// This servo is not enabled
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