mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.8 KiB
C
53 lines
1.8 KiB
C
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// Class supporting autorotation state within the heli rotor speed controller
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#pragma once
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#include <AP_Param/AP_Param.h>
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// helper class to manage autorotation state and variables within RSC
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class RSC_Autorotation
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{
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public:
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RSC_Autorotation(void);
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enum class State {
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DEACTIVATED,
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BAILING_OUT,
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ACTIVE,
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};
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// state accessors
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bool active(void) const { return state == State::ACTIVE; }
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bool bailing_out(void) const { return state == State::BAILING_OUT; }
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// update idle throttle when in autorotation
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bool get_idle_throttle(float& idle_throttle);
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// get the throttle ramp rate needed when bailing out of autorotation
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float get_bailout_ramp(void) const;
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// get the allowed run-up time that we expect the rotor to need to complete a bailout
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float get_runup_time(void) const;
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// request changes in autorotation state
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void set_active(bool active, bool force_state);
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// sanity check of parameters, should be called only whilst disarmed
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bool arming_checks(size_t buflen, char *buffer) const;
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 idle_output; // (percent) rsc output used when in autorotation, used for setting autorotation window on ESCs
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AP_Int8 bailout_throttle_time; // (seconds) time for in-flight power re-engagement when bailing-out of an autorotation
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AP_Int8 bailout_runup_time; // (seconds) expected time for the motor to fully engage and for the rotor to regain safe head speed if necessary
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AP_Int8 enable; // enables autorotation state within the RSC
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State state;
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uint32_t bail_out_started_ms; // (milliseconds) time that bailout started, used to time transition from "bailing out" to "autorotation stopped"
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};
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