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helicopter: add tail servo support

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as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
This commit is contained in:
Beat Küng
2023-03-09 07:56:51 +01:00
parent bae413a332
commit 77d6c722a7
5 changed files with 46 additions and 10 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+6 -2
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@@ -258,8 +258,12 @@ ControlAllocator::update_effectiveness_source()
tmp = new ActuatorEffectivenessCustom(this);
break;
case EffectivenessSource::HELICOPTER:
tmp = new ActuatorEffectivenessHelicopter(this);
case EffectivenessSource::HELICOPTER_TAIL_ESC:
tmp = new ActuatorEffectivenessHelicopter(this, ActuatorType::MOTORS);
break;
case EffectivenessSource::HELICOPTER_TAIL_SERVO:
tmp = new ActuatorEffectivenessHelicopter(this, ActuatorType::SERVOS);
break;
default: