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AP_Motors: Heli: remove inverted flight state

This commit is contained in:
Iampete1 2024-02-29 23:30:04 +00:00 committed by Randy Mackay
parent 73760ea393
commit 24c843dc26
4 changed files with 0 additions and 16 deletions
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4
libraries/AP_Motors/AP_MotorsHeli.h
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@ -75,9 +75,6 @@ public:
// set_collective_for_landing - limits collective from going too low if we know we are landed // set_collective_for_landing - limits collective from going too low if we know we are landed
void set_collective_for_landing(bool landing) { _heliflags.landing_collective = landing; } void set_collective_for_landing(bool landing) { _heliflags.landing_collective = landing; }
// set_inverted_flight - enables/disables inverted flight
void set_inverted_flight(bool inverted) { _heliflags.inverted_flight = inverted; }
// get_rsc_mode - gets the current rotor speed control method // get_rsc_mode - gets the current rotor speed control method
uint8_t get_rsc_mode() const { return _main_rotor.get_control_mode(); } uint8_t get_rsc_mode() const { return _main_rotor.get_control_mode(); }
@ -247,7 +244,6 @@ protected:
struct heliflags_type { struct heliflags_type {
uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum
uint8_t rotor_runup_complete : 1; // true if the rotors have had enough time to wind up uint8_t rotor_runup_complete : 1; // true if the rotors have had enough time to wind up
uint8_t inverted_flight : 1; // true for inverted flight
uint8_t init_targets_on_arming : 1; // 0 if targets were initialized, 1 if targets were not initialized after arming uint8_t init_targets_on_arming : 1; // 0 if targets were initialized, 1 if targets were not initialized after arming
uint8_t save_rsc_mode : 1; // used to determine the rsc mode needs to be saved while disarmed uint8_t save_rsc_mode : 1; // used to determine the rsc mode needs to be saved while disarmed
uint8_t in_autorotation : 1; // true if aircraft is in autorotation uint8_t in_autorotation : 1; // true if aircraft is in autorotation

4
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -415,10 +415,6 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
} }
} }
if (_heliflags.inverted_flight) {
collective_in = 1 - collective_in;
}
// constrain collective input // constrain collective input
float collective_out = collective_in; float collective_out = collective_in;
if (collective_out <= 0.0f) { if (collective_out <= 0.0f) {

4
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
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@ -207,10 +207,6 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
float collective_range = (_collective_max - _collective_min) * 0.001f; float collective_range = (_collective_max - _collective_min) * 0.001f;
if (_heliflags.inverted_flight) {
collective_out = 1.0f - collective_out;
}
// feed power estimate into main rotor controller // feed power estimate into main rotor controller
_main_rotor.set_collective(fabsf(collective_out)); _main_rotor.set_collective(fabsf(collective_out));

4
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -382,10 +382,6 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
limit.throttle_lower = false; limit.throttle_lower = false;
limit.throttle_upper = false; limit.throttle_upper = false;
if (_heliflags.inverted_flight) {
coll_in = 1 - coll_in;
}
// rescale roll_out and pitch_out into the min and max ranges to provide linear motion // rescale roll_out and pitch_out into the min and max ranges to provide linear motion
// across the input range instead of stopping when the input hits the constrain value // across the input range instead of stopping when the input hits the constrain value
// these calculations are based on an assumption of the user specified cyclic_max // these calculations are based on an assumption of the user specified cyclic_max