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AP_MotorsHeli_Single: rotor speed functions in 0 to 1 range

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This commit is contained in:
Randy Mackay 2016-02-03 17:59:44 +09:00
parent 68945df45d
commit 2cdc5da226
2 changed files with 13 additions and 15 deletions
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18
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -207,12 +207,12 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
}
// set_desired_rotor_speed
void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed)
void AP_MotorsHeli_Single::set_desired_rotor_speed(float desired_speed)
{
_main_rotor.set_desired_speed(desired_speed);
// always send desired speed to tail rotor control, will do nothing if not DDVPT not enabled
_tail_rotor.set_desired_speed(_direct_drive_tailspeed);
_tail_rotor.set_desired_speed(_direct_drive_tailspeed/1000.0f);
}
// calculate_scalars - recalculates various scalers used.
@ -220,10 +220,9 @@ void AP_MotorsHeli_Single::calculate_armed_scalars()
{
_main_rotor.set_ramp_time(_rsc_ramp_time);
_main_rotor.set_runup_time(_rsc_runup_time);
_main_rotor.set_critical_speed(_rsc_critical);
_main_rotor.set_idle_output(_rsc_idle_output);
_main_rotor.set_power_output_range(_rsc_power_low, _rsc_power_high);
_main_rotor.recalc_scalers();
_main_rotor.set_critical_speed(_rsc_critical/1000.0f);
_main_rotor.set_idle_output(_rsc_idle_output/1000.0f);
_main_rotor.set_power_output_range(_rsc_power_low/1000.0f, _rsc_power_high/1000.0f);
}
@ -252,8 +251,8 @@ void AP_MotorsHeli_Single::calculate_scalars()
_tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_SPEED_SETPOINT);
_tail_rotor.set_ramp_time(AP_MOTORS_HELI_SINGLE_DDVPT_RAMP_TIME);
_tail_rotor.set_runup_time(AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_TIME);
_tail_rotor.set_critical_speed(_rsc_critical);
_tail_rotor.set_idle_output(_rsc_idle_output);
_tail_rotor.set_critical_speed(_rsc_critical/1000.0f);
_tail_rotor.set_idle_output(_rsc_idle_output/1000.0f);
} else {
_tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_DISABLED);
_tail_rotor.set_ramp_time(0);
@ -261,7 +260,6 @@ void AP_MotorsHeli_Single::calculate_scalars()
_tail_rotor.set_critical_speed(0);
_tail_rotor.set_idle_output(0);
}
_tail_rotor.recalc_scalers();
}
// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
@ -444,7 +442,7 @@ void AP_MotorsHeli_Single::move_yaw(float yaw_out)
} else {
write_aux(_ext_gyro_gain_std/1000.0f);
}
} else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) {
} else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0.0f) {
// output yaw servo to tail rsc
// To-Do: fix this messy calculation
write_aux(yaw_out*0.5f+1.0f);

10
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -76,14 +76,14 @@ public:
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void output_test(uint8_t motor_seq, int16_t pwm);
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void set_desired_rotor_speed(int16_t desired_speed);
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1
void set_desired_rotor_speed(float desired_speed);
// get_main_rotor_speed - gets estimated or measured main rotor speed
int16_t get_main_rotor_speed() const { return _main_rotor.get_rotor_speed(); }
float get_main_rotor_speed() const { return _main_rotor.get_rotor_speed(); }
// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000
int16_t get_desired_rotor_speed() const { return _main_rotor.get_desired_speed(); }
// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1
float get_desired_rotor_speed() const { return _main_rotor.get_desired_speed(); }
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
bool rotor_speed_above_critical() const { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }