AP_Motors: tradheli support for turbine start

libraries/AP_Motors/AP_MotorsHeli.h

@@ -67,6 +67,9 @@ public:
     // parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
     virtual bool parameter_check(bool display_msg) const;
 	
+	//set turbine start flag on to initiaize starting sequence 
+	void set_turb_start(bool turb_start) { _heliflags.start_engine = turb_start; }
+
     // has_flybar - returns true if we have a mechical flybar
     virtual bool has_flybar() const { return AP_MOTORS_HELI_NOFLYBAR; }
 
@@ -243,6 +246,7 @@ protected:
         uint8_t takeoff_collective      : 1;    // true if collective is above 30% between H_COL_MID and H_COL_MAX
         uint8_t below_land_min_coll     : 1;    // true if collective is below H_COL_LAND_MIN
         uint8_t rotor_spooldown_complete : 1;    // true if the rotors have spooled down completely
+        uint8_t start_engine            : 1;
     } _heliflags;
 
     // parameters

libraries/AP_Motors/AP_MotorsHeli_RSC.cpp

@@ -15,6 +15,10 @@
 
 #include <stdlib.h>
 #include <AP_HAL/AP_HAL.h>
+<<<<<<< HEAD
+=======
+#include <GCS_MAVLink/GCS.h>
+>>>>>>> 5faab0ee08... AP_Motors: tradheli support for turbine start
 #include "AP_MotorsHeli_RSC.h"
 #include <AP_RPM/AP_RPM.h>
 
@@ -268,6 +272,8 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
             governor_reset();
             _autothrottle = false;
             _governor_fault = false;
+			//turbine start flag on
+			_starting = true;
             break;
 
         case ROTOR_CONTROL_IDLE:
@@ -283,6 +289,15 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
                 _control_output = constrain_float( _rsc_arot_bailout_pct/100.0f , 0.0f, 0.4f);
             } else {
                 // set rotor control speed to idle speed parameter, this happens instantly and ignores ramping
+                if (_turbine_start && _starting == true ) {			
+			_control_output += 0.001f;
+			
+			         if(_control_output >= 1.0f) {
+						_control_output = get_idle_output();
+						gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
+				       _starting = false;
+				      }
+             } else{
                 if (_cooldown_time > 0) {
                     _control_output = get_idle_output() * 1.5f;
                     _fast_idle_timer += dt;
@@ -293,6 +308,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
                     _control_output = get_idle_output();
                 }
 			 } 	 
+            }
             break;
 
         case ROTOR_CONTROL_ACTIVE:

libraries/AP_Motors/AP_MotorsHeli_RSC.h

@@ -113,6 +113,9 @@ public:
     // set the throttle percentage to be sent to external governor to signal that autorotation bailout ramp should be used within this instance of Heli_RSC
     void        set_ext_gov_arot_bail(int16_t pct) { _rsc_arot_bailout_pct = pct; }
 	
+	// turbine start initialize sequence
+	void        set_turbine_start(bool turbine_start) {_turbine_start = (bool)turbine_start; }
+
     // output - update value to send to ESC/Servo
     void        output(RotorControlState state);
 
@@ -145,6 +148,8 @@ private:
     float           _thrcrv_poly[4][4];           // spline polynomials for throttle curve interpolation
     float           _collective_in;               // collective in for throttle curve calculation, range 0-1.0f
     float           _rotor_rpm;                   // rotor rpm from speed sensor for governor
+	bool           _turbine_start;
+	bool           _starting;
     float           _governor_output;             // governor output for rotor speed control
     bool            _governor_engage;             // RSC governor status flag
     bool            _autothrottle;                // autothrottle status flag

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -292,6 +292,12 @@ void AP_MotorsHeli_Single::calculate_armed_scalars()
     _main_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
     _tail_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
 	
+	if (_heliflags.start_engine) {
+        _main_rotor.set_turbine_start(true);
+    } else {
+        _main_rotor.set_turbine_start(false);
+    }
+
     // allow use of external governor autorotation bailout
     if (_main_rotor._ext_gov_arot_pct.get() > 0) {
         // RSC only needs to know that the vehicle is in an autorotation if using the bailout window on an external governor