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Copter: Tradheli-removed hard coding of motor interlock to channel 8

This commit is contained in:
bnsgeyer 2019-01-26 09:33:32 -05:00 committed by Randy Mackay
parent d7f90963ea
commit 07d9e8c224
2 changed files with 15 additions and 9 deletions
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8
ArduCopter/AP_Arming.cpp
View File

@ -211,6 +211,14 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
} }
return false; return false;
} }
// Ensure an Aux Channel is configured for motor interlock
if (rc().find_channel_for_option(RC_Channel::aux_func_t::MOTOR_INTERLOCK) == nullptr) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock not configured");
}
return false;
}
#endif // HELI_FRAME #endif // HELI_FRAME
// check for missing terrain data // check for missing terrain data

16
ArduCopter/heli.cpp
View File

@ -139,17 +139,17 @@ void Copter::heli_update_rotor_speed_targets()
// get rotor control method // get rotor control method
uint8_t rsc_control_mode = motors->get_rsc_mode(); uint8_t rsc_control_mode = motors->get_rsc_mode();
float rsc_control_deglitched = 0.0f;
float rsc_control_deglitched = rotor_speed_deglitch_filter.apply((float)RC_Channels::rc_channel(CH_8)->get_control_in()) * 0.001f; 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) { switch (rsc_control_mode) {
case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH: case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH:
// pass through pilot desired rotor speed if control input is higher than 10, creating a deadband at the bottom // pass through pilot desired rotor speed if control input is higher than 10, creating a deadband at the bottom
if (rsc_control_deglitched > 0.01f) { if (motors->get_interlock()) {
ap.motor_interlock_switch = true;
motors->set_desired_rotor_speed(rsc_control_deglitched); motors->set_desired_rotor_speed(rsc_control_deglitched);
} else { } else {
ap.motor_interlock_switch = false;
motors->set_desired_rotor_speed(0.0f); motors->set_desired_rotor_speed(0.0f);
} }
break; break;
@ -158,11 +158,9 @@ void Copter::heli_update_rotor_speed_targets()
case ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT: case ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT:
// pass setpoint through as desired rotor speed, this is almost pointless as the Setpoint serves no function in this mode // pass setpoint through as desired rotor speed, this is almost pointless as the Setpoint serves no function in this mode
// other than being used to create a crude estimate of rotor speed // other than being used to create a crude estimate of rotor speed
if (rsc_control_deglitched > 0.0f) { if (motors->get_interlock()) {
ap.motor_interlock_switch = true;
motors->set_desired_rotor_speed(motors->get_rsc_setpoint()); motors->set_desired_rotor_speed(motors->get_rsc_setpoint());
}else{ }else{
ap.motor_interlock_switch = false;
motors->set_desired_rotor_speed(0.0f); motors->set_desired_rotor_speed(0.0f);
} }
break; break;