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Copter: Support checking max rpm in the takeoff check

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This commit is contained in:
Michael du Breuil 2023-04-28 13:03:54 -07:00 committed by Randy Mackay
parent 3de912f2b8
commit 04b16d1a79
3 changed files with 12 additions and 2 deletions
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9
ArduCopter/Parameters.cpp
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@ -1215,6 +1215,15 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
// @User: Advanced
AP_GROUPINFO("TKOFF_THR_MAX", 6, ParametersG2, takeoff_throttle_max, 0.9),
#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
// @Param: TKOFF_RPM_MAX
// @DisplayName: Takeoff Check RPM maximum
// @Description: Takeoff is not permitted until motors report no more than this RPM. Set to zero to disable check
// @Range: 0 10000
// @User: Standard
AP_GROUPINFO("TKOFF_RPM_MAX", 7, ParametersG2, takeoff_rpm_max, 0),
#endif
// ID 62 is reserved for the AP_SUBGROUPEXTENSION
AP_GROUPEND

1
ArduCopter/Parameters.h
View File

@ -681,6 +681,7 @@ public:
AP_Float takeoff_throttle_max;
#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
AP_Int16 takeoff_rpm_min;
AP_Int16 takeoff_rpm_max;
#endif
#if WEATHERVANE_ENABLED == ENABLED

4
ArduCopter/takeoff_check.cpp
View File

@ -30,7 +30,7 @@ void Copter::takeoff_check()
// check ESCs are sending RPM at expected level
uint32_t motor_mask = motors->get_motor_mask();
const bool telem_active = AP::esc_telem().is_telemetry_active(motor_mask);
const bool rpm_adequate = AP::esc_telem().are_motors_running(motor_mask, g2.takeoff_rpm_min);
const bool rpm_adequate = AP::esc_telem().are_motors_running(motor_mask, g2.takeoff_rpm_min, g2.takeoff_rpm_max);
// if RPM is at the expected level clear block
if (telem_active && rpm_adequate) {
@ -49,7 +49,7 @@ void Copter::takeoff_check()
if (!telem_active) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s waiting for ESC RPM", prefix_str);
} else if (!rpm_adequate) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s ESC RPM too low", prefix_str);
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s ESC RPM out of range", prefix_str);
}
}
#endif