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AP_Motors: Heli: add helper to convert from AP_Motors::SpoolState to AP_MotorsHeli_RSC::RotorControlState

This commit is contained in:
Iampete1 2023-12-13 03:06:29 +00:00 committed by Andrew Tridgell
parent 287e9726d7
commit 1bcf69e0c7
5 changed files with 31 additions and 57 deletions
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23
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -590,3 +590,26 @@ void AP_MotorsHeli::set_desired_rotor_speed(float desired_speed)
{
_main_rotor.set_desired_speed(desired_speed);
}
// Converts AP_Motors::SpoolState from _spool_state variable to AP_MotorsHeli_RSC::RotorControlState
AP_MotorsHeli_RSC::RotorControlState AP_MotorsHeli::get_rotor_control_state() const
{
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors
return AP_MotorsHeli_RSC::RotorControlState::STOP;
case SpoolState::GROUND_IDLE:
// sends idle output to motors when armed. rotor could be static or turning (autorotation)
return AP_MotorsHeli_RSC::RotorControlState::IDLE;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
// set motor output based on thrust requests
return AP_MotorsHeli_RSC::RotorControlState::ACTIVE;
case SpoolState::SPOOLING_DOWN:
// sends idle output to motors and wait for rotor to stop
return AP_MotorsHeli_RSC::RotorControlState::IDLE;
}
// Should be unreachable, but needed to keep the compiler happy
return AP_MotorsHeli_RSC::RotorControlState::STOP;
}

3
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -191,6 +191,9 @@ protected:
// update_motor_controls - sends commands to motor controllers
virtual void update_motor_control(AP_MotorsHeli_RSC::RotorControlState state) = 0;
// Converts AP_Motors::SpoolState from _spool_state variable to AP_MotorsHeli_RSC::RotorControlState
AP_MotorsHeli_RSC::RotorControlState get_rotor_control_state() const;
// run spool logic
void output_logic();

21
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
View File

@ -525,25 +525,8 @@ void AP_MotorsHeli_Dual::output_to_motors()
_swashplate1.output();
_swashplate2.output();
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
break;
case SpoolState::GROUND_IDLE:
// sends idle output to motors when armed. rotor could be static or turning (autorotation)
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
// set motor output based on thrust requests
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
break;
case SpoolState::SPOOLING_DOWN:
// sends idle output to motors and wait for rotor to stop
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
break;
}
update_motor_control(get_rotor_control_state());
}
// servo_test - move servos through full range of movement

21
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
View File

@ -273,25 +273,8 @@ void AP_MotorsHeli_Quad::output_to_motors()
rc_write_angle(AP_MOTORS_MOT_1+i, _out[i] * QUAD_SERVO_MAX_ANGLE);
}
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
break;
case SpoolState::GROUND_IDLE:
// sends idle output to motors when armed. rotor could be static or turning (autorotation)
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
// set motor output based on thrust requests
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
break;
case SpoolState::SPOOLING_DOWN:
// sends idle output to motors and wait for rotor to stop
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
break;
}
update_motor_control(get_rotor_control_state());
}
// servo_test - move servos through full range of movement

20
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -501,25 +501,7 @@ void AP_MotorsHeli_Single::output_to_motors()
_swashplate.output();
// Output main rotor
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
break;
case SpoolState::GROUND_IDLE:
// sends idle output to motors when armed. rotor could be static or turning (autorotation)
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
// set motor output based on thrust requests
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
break;
case SpoolState::SPOOLING_DOWN:
// sends idle output to motors and wait for rotor to stop
update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
break;
}
update_motor_control(get_rotor_control_state());
// Output tail rotor
switch (get_tail_type()) {