AP_Motors: Heli dual: Constrain cyclic roll for intermeshing

ArduPilot · Jun 9, 2024 · 5784abd · 5784abd
1 parent 3ede599
commit 5784abd
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -404,7 +404,8 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
             pitch_out = _cyclic_max/4500.0f;
             limit.pitch = true;
         }
-    } else {
+    }
+    if (_dual_mode != AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE) {
         if (roll_out < -_cyclic_max/4500.0f) {
             roll_out = -_cyclic_max/4500.0f;
             limit.roll = true;