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Copter: correct Heli compilation when some modes are disabled

This commit is contained in:
Peter Barker 2019-11-01 14:47:47 +11:00 committed by Peter Barker
parent d9b41b3953
commit 201adb6818
2 changed files with 34 additions and 37 deletions
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1
ArduCopter/Copter.h
View File

@ -747,6 +747,7 @@ private:
// heli.cpp
void heli_init();
void check_dynamic_flight(void);
bool should_use_landing_swash() const;
void update_heli_control_dynamics(void);
void heli_update_landing_swash();
void heli_update_rotor_speed_targets();

70
ArduCopter/heli.cpp
View File

@ -24,7 +24,7 @@ void Copter::heli_init()
void Copter::check_dynamic_flight(void)
{
if (motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED ||
control_mode == Mode::Number::LAND || (control_mode==Mode::Number::RTL && mode_rtl.state() == RTL_Land) || (control_mode == Mode::Number::AUTO && mode_auto.mode() == Auto_Land)) {
flightmode->is_landing()) {
heli_dynamic_flight_counter = 0;
heli_flags.dynamic_flight = false;
return;
@ -89,46 +89,42 @@ void Copter::update_heli_control_dynamics(void)
attitude_control->set_hover_roll_trim_scalar((float) hover_roll_trim_scalar_slew/(float) scheduler.get_loop_rate_hz());
}
bool Copter::should_use_landing_swash() const
{
if (flightmode->has_manual_throttle() ||
control_mode == Mode::Number::DRIFT ||
control_mode == Mode::Number::SPORT) {
// manual modes always uses full swash range
return false;
}
if (flightmode->is_landing()) {
// landing with non-manual throttle mode always uses limit swash range
return true;
}
if (ap.land_complete) {
// when landed in non-manual throttle mode limit swash range
return true;
}
if (!ap.auto_armed) {
// when waiting to takeoff in non-manual throttle mode limit swash range
return true;
}
if (!heli_flags.dynamic_flight) {
// Just in case we are unsure of being in non-manual throttle
// mode, limit swash range in low speed and hovering flight.
// This will catch any non-manual throttle mode attempting a
// landing and driving the collective too low before the land
// complete flag is set.
return true;
}
return false;
}
// heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing
// should be called soon after update_land_detector in main code
void Copter::heli_update_landing_swash()
{
switch (control_mode) {
case Mode::Number::ACRO:
case Mode::Number::STABILIZE:
case Mode::Number::DRIFT:
case Mode::Number::SPORT:
// manual modes always uses full swash range
motors->set_collective_for_landing(false);
break;
case Mode::Number::LAND:
// landing always uses limit swash range
motors->set_collective_for_landing(true);
break;
case Mode::Number::RTL:
case Mode::Number::SMART_RTL:
if (mode_rtl.state() == RTL_Land) {
motors->set_collective_for_landing(true);
}else{
motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
}
break;
case Mode::Number::AUTO:
if (mode_auto.mode() == Auto_Land) {
motors->set_collective_for_landing(true);
}else{
motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
}
break;
default:
// auto and hold use limited swash when landed
motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
break;
}
motors->set_collective_for_landing(should_use_landing_swash());
}
// heli_update_rotor_speed_targets - reads pilot input and passes new rotor speed targets to heli motors object