AP_Motors: change heli rotors turning on ground yaw behavior

bnsgeyer · Nov 22, 2024 · 3013e82 · 3013e82
1 parent cf918cb
commit 3013e82
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -142,7 +142,7 @@ class AP_MotorsHeli : public AP_Motors {
     };
 
     // use leaking integrator management scheme
-    bool using_leaky_integrator() const { return heli_option(HeliOption::USE_LEAKY_I); }
+    bool using_leaky_integrator() const override { return heli_option(HeliOption::USE_LEAKY_I); }
 
     // Run arming checks
     bool arming_checks(size_t buflen, char *buffer) const override;

diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
@@ -258,6 +258,8 @@ class AP_Motors {
     // This function required for tradheli. Tradheli initializes targets when going from unarmed to armed state.
     // This function is overriden in motors_heli class.   Always true for multicopters.
     virtual bool init_targets_on_arming() const { return true; }
+    // use leaking integrator management scheme
+    virtual bool using_leaky_integrator() const { return false; }
 
     // returns true if the configured PWM type is digital and should have fixed endpoints
     bool is_digital_pwm_type() const;