Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_MotorsHeli_RSC: Fix tail_type control

This commit is contained in:
Robert Lefebvre 2015-08-12 19:20:30 -04:00 committed by Randy Mackay
parent c51b57e71c
commit 38ccd6e04f
1 changed files with 3 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -207,17 +207,13 @@ bool AP_MotorsHeli_Single::allow_arming() const
return true;
}
// set_desired_rotor_speed
void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed)
{
_main_rotor.set_desired_speed(desired_speed);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.set_desired_speed(_direct_drive_tailspeed);
} else {
_tail_rotor.set_desired_speed(0);
}
// always send desired speed to tail rotor control, will do nothing if not DDVPT not enabled
_tail_rotor.set_desired_speed(_direct_drive_tailspeed);
}
// calculate_scalars - recalculates various scalers used.
@ -254,7 +250,7 @@ void AP_MotorsHeli_Single::calculate_scalars()
_main_rotor.recalc_scalers();
// send setpoints to tail rotor controller and trigger recalculation of scalars
if (_rsc_mode == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_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);