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Copter: fix tradheli RSC RC passthrough mode 

Copter: heli get_pilot_desired_rotor_speed converts interlock input to desired rotor speed
This commit is contained in:
bnsgeyer 2020-01-07 00:12:54 -05:00 committed by Andrew Tridgell
parent 568bf45d15
commit 025cc92ee0
4 changed files with 26 additions and 9 deletions
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1
ArduCopter/Copter.h
View File

@ -759,6 +759,7 @@ private:
void check_dynamic_flight(void);
void update_heli_control_dynamics(void);
void heli_update_landing_swash();
float get_pilot_desired_rotor_speed() const;
void heli_update_rotor_speed_targets();
void heli_update_autorotation();
#if MODE_AUTOROTATE_ENABLED == ENABLED

10
ArduCopter/RC_Channel.cpp
View File

@ -349,9 +349,15 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
break;
case AUX_FUNC::MOTOR_INTERLOCK:
// Turn on when above LOW, because channel will also be used for speed
// control signal in tradheli
#if FRAME_CONFIG == HELI_FRAME
// The interlock logic for ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH is handled
// in heli_update_rotor_speed_targets. Otherwise turn on when above low.
if (copter.motors->get_rsc_mode() != ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH) {
copter.ap.motor_interlock_switch = (ch_flag == HIGH || ch_flag == MIDDLE);
}
#else
copter.ap.motor_interlock_switch = (ch_flag == HIGH || ch_flag == MIDDLE);
#endif
break;
case AUX_FUNC::BRAKE:

1
ArduCopter/RC_Channel.h
View File

@ -1,6 +1,7 @@
#pragma once
#include <RC_Channel/RC_Channel.h>
#include <AP_Motors/AP_Motors.h>
#include "mode.h"
class RC_Channel_Copter : public RC_Channel

23
ArduCopter/heli.cpp
View File

@ -131,6 +131,17 @@ void Copter::heli_update_landing_swash()
}
}
// convert motor interlock switch's position to desired rotor speed expressed as a value from 0 to 1
// returns zero if motor interlock auxiliary switch hasn't been defined
float Copter::get_pilot_desired_rotor_speed() const
{
RC_Channel *rc_ptr = rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK);
if (rc_ptr != nullptr) {
return (float)rc_ptr->get_control_in() * 0.001f;
}
return 0.0f;
}
// heli_update_rotor_speed_targets - reads pilot input and passes new rotor speed targets to heli motors object
void Copter::heli_update_rotor_speed_targets()
{
@ -139,17 +150,15 @@ void Copter::heli_update_rotor_speed_targets()
// get rotor control method
uint8_t rsc_control_mode = motors->get_rsc_mode();
float rsc_control_deglitched = 0.0f;
RC_Channel *rc_ptr = rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK);
if (rc_ptr != nullptr) {
rsc_control_deglitched = rotor_speed_deglitch_filter.apply((float)rc_ptr->get_control_in()) * 0.001f;
}
switch (rsc_control_mode) {
case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH:
// pass through pilot desired rotor speed from the RC
if (motors->get_interlock()) {
motors->set_desired_rotor_speed(rsc_control_deglitched);
if (get_pilot_desired_rotor_speed() > 0.01) {
ap.motor_interlock_switch = true;
motors->set_desired_rotor_speed(get_pilot_desired_rotor_speed());
} else {
ap.motor_interlock_switch = false;
motors->set_desired_rotor_speed(0.0f);
}
break;