Copter: Allow Tradheli to spoolup in guided or auto mode

ArduCopter/mode.cpp

@@ -448,10 +448,23 @@ void Mode::zero_throttle_and_hold_attitude()
     attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
 }
 
-void Mode::make_safe_spool_down()
+// handle situations where the vehicle is on the ground waiting for takeoff
+// force_throttle_unlimited should be true in cases where we want to keep the motors spooled up
+// (instead of spooling down to ground idle).  This is required for tradheli's in Guided and Auto
+// where we always want the motor spooled up in Guided or Auto mode.  Tradheli's main rotor stops 
+// when spooled down to ground idle.
+// ultimately it forces the motor interlock to be obeyed in auto and guided modes when on the ground.
+void Mode::make_safe_ground_handling(bool force_throttle_unlimited)
 {
-    // command aircraft to initiate the shutdown process
+    if (force_throttle_unlimited) {
+        // keep rotors turning 
+        motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
+    } else {
+        // spool down to ground idle
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
+    }
+
+
     switch (motors->get_spool_state()) {
 
     case AP_Motors::SpoolState::SHUT_DOWN:

ArduCopter/mode.h

@@ -107,7 +107,7 @@ protected:
     bool is_disarmed_or_landed() const;
     void zero_throttle_and_relax_ac(bool spool_up = false);
     void zero_throttle_and_hold_attitude();
-    void make_safe_spool_down();
+    void make_safe_ground_handling(bool force_throttle_unlimited = false);
 
     // functions to control landing
     // in modes that support landing

ArduCopter/mode_auto.cpp

@@ -814,7 +814,7 @@ void ModeAuto::wp_run()
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         wp_nav->wp_and_spline_init();
         return;
     }
@@ -846,7 +846,7 @@ void ModeAuto::land_run()
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
         return;
@@ -913,7 +913,7 @@ void ModeAuto::loiter_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         wp_nav->wp_and_spline_init();
         return;
     }

ArduCopter/mode_brake.cpp

@@ -36,7 +36,7 @@ void ModeBrake::run()
 {
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         pos_control->relax_velocity_controller_xy();
         pos_control->relax_z_controller(0.0f);
         return;

ArduCopter/mode_circle.cpp

@@ -97,7 +97,7 @@ void ModeCircle::run()
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         return;
     }
 

ArduCopter/mode_follow.cpp

@@ -34,7 +34,7 @@ void ModeFollow::run()
 {
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         return;
     }
 

ArduCopter/mode_guided.cpp

@@ -535,7 +535,8 @@ void ModeGuided::pos_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        // do not spool down tradheli when on the ground with motor interlock enabled
+        make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
         return;
     }
 
@@ -593,7 +594,8 @@ void ModeGuided::accel_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        // do not spool down tradheli when on the ground with motor interlock enabled
+        make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
         return;
     }
 
@@ -656,7 +658,8 @@ void ModeGuided::velaccel_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        // do not spool down tradheli when on the ground with motor interlock enabled
+        make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
         return;
     }
 
@@ -731,7 +734,8 @@ void ModeGuided::posvelaccel_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        // do not spool down tradheli when on the ground with motor interlock enabled
+        make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
         return;
     }
 
@@ -845,7 +849,8 @@ void ModeGuided::angle_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !copter.ap.auto_armed || (copter.ap.land_complete && !positive_thrust_or_climbrate)) {
-        make_safe_spool_down();
+        // do not spool down tradheli when on the ground with motor interlock enabled
+        make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
         return;
     }
 

ArduCopter/mode_land.cpp

@@ -66,7 +66,7 @@ void ModeLand::gps_run()
 
     // Land State Machine Determination
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
     } else {
@@ -121,7 +121,7 @@ void ModeLand::nogps_run()
 
     // Land State Machine Determination
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
     } else {
         // set motors to full range
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);

ArduCopter/mode_rtl.cpp

@@ -153,7 +153,7 @@ void ModeRTL::climb_return_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         return;
     }
 
@@ -211,7 +211,7 @@ void ModeRTL::loiterathome_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         return;
     }
 
@@ -294,7 +294,7 @@ void ModeRTL::descent_run()
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         return;
     }
 
@@ -398,7 +398,7 @@ void ModeRTL::land_run(bool disarm_on_land)
 
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
-        make_safe_spool_down();
+        make_safe_ground_handling();
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
         return;

ArduCopter/system.cpp

@@ -397,11 +397,7 @@ void Copter::update_auto_armed()
         if(flightmode->has_manual_throttle() && ap.throttle_zero && !failsafe.radio) {
             set_auto_armed(false);
         }
-        // if helicopters are on the ground, and the motor is switched off, auto-armed should be false
+
-        // so that rotor runup is checked again before attempting to take-off
-        if(ap.land_complete && motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED && ap.using_interlock) {
-            set_auto_armed(false);
-        }
     }else{
         // arm checks
         

ArduCopter/takeoff.cpp

@@ -35,8 +35,9 @@ bool Mode::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
         return false;
     }
 
-    // Helicopters should return false if MAVlink takeoff command is received while the rotor is not spinning
+    // Vehicles using motor interlock should return false if motor interlock is disabled.
-    if (motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED && copter.ap.using_interlock) {
+    // Interlock must be enabled to allow the controller to spool up the motor(s) for takeoff.
+    if (!motors->get_interlock() && copter.ap.using_interlock) {
         return false;
     }
 
@@ -96,7 +97,8 @@ void Mode::auto_takeoff_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !copter.ap.auto_armed) {
-        make_safe_spool_down();
+        // do not spool down tradheli when on the ground with motor interlock enabled
+        make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
         wp_nav->shift_wp_origin_and_destination_to_current_pos_xy();
         return;
     }