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AP_Motors:TradHeli - DDFP Tail

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change to prevent DDFP Tail from starting without motor interlock raised and armed state = true
Change Type: bug fix - resolves issue #6287
This commit is contained in:
ChristopherOlson 2017-11-06 19:12:33 -06:00 committed by Randy Mackay
parent 979a52469f
commit 3296bcb10a
1 changed files with 13 additions and 6 deletions
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19
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -476,8 +476,19 @@ void AP_MotorsHeli_Single::move_yaw(float yaw_out)
limit.yaw = true;
}
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(yaw_out, _yaw_servo));
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
if (_main_rotor.get_desired_speed() > 0.0f && hal.util->get_soft_armed()) {
// constrain output so that motor never fully stops
yaw_out = constrain_float(yaw_out, -0.9f, 1.0f);
// output yaw servo to tail rsc
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(yaw_out, _yaw_servo));
} else {
// output zero speed to tail rsc
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-1.0f, _yaw_servo));
}
} else {
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(yaw_out, _yaw_servo));
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro
if (_acro_tail && _ext_gyro_gain_acro > 0) {
@ -485,10 +496,6 @@ 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() > 0.0f) {
// output yaw servo to tail rsc
// To-Do: fix this messy calculation
write_aux(yaw_out*0.5f+1.0f);
}
}