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AP_MotorsHeli: add Critical Rotor Speed param, use to switch off runup_complete

This commit is contained in:
Robert Lefebvre 2015-06-18 19:38:37 -04:00 committed by Randy Mackay
parent 62079226ff
commit 0c92565d23
2 changed files with 13 additions and 1 deletions
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10
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -204,6 +204,14 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("TAIL_SPEED", 21, AP_MotorsHeli, _direct_drive_tailspeed, AP_MOTOR_HELI_DDTAIL_DEFAULT),
// @Param: RSC_CRITICAL
// @DisplayName: Critical Rotor Speed
// @Description: Rotor speed below which flight is not possible
// @Range: 0 1000
// @Increment: 10
// @User: Standard
AP_GROUPINFO("RSC_CRITICAL", 22, AP_MotorsHeli, _rsc_critical, AP_MOTORS_HELI_RSC_CRITICAL),
// parameters 1 ~ 29 reserved for tradheli
// parameters 30 ~ 39 reserved for tricopter
// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)
@ -748,7 +756,7 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
if (!_heliflags.rotor_runup_complete && rotor_target > 0 && _rotor_speed_estimate >= rotor_target) {
_heliflags.rotor_runup_complete = true;
}
if (_heliflags.rotor_runup_complete && rotor_target == 0 && _rotor_speed_estimate <= 0) {
if (_heliflags.rotor_runup_complete && _rotor_speed_estimate <= _rsc_critical) {
_heliflags.rotor_runup_complete = false;
}

4
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -70,6 +70,9 @@
// default main rotor speed (ch8 out) as a number from 0 ~ 1000
#define AP_MOTORS_HELI_RSC_SETPOINT 700
// default main rotor critical speed
#define AP_MOTORS_HELI_RSC_CRITICAL 500
// default main rotor ramp up time in seconds
#define AP_MOTORS_HELI_RSC_RAMP_TIME 1 // 1 second to ramp output to main rotor ESC to full power (most people use exterrnal govenors so we can ramp up quickly)
#define AP_MOTORS_HELI_RSC_RUNUP_TIME 10 // 10 seconds for rotor to reach full speed
@ -292,6 +295,7 @@ private:
AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int16 _land_collective_min; // Minimum collective when landed or landing
AP_Int16 _direct_drive_tailspeed; // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
AP_Int16 _rsc_critical; // Rotor speed below which flight is not possible
// internal variables
float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];