From 3ad6700c5d5410558103d777ff0102a4e53e01f2 Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Thu, 18 Jun 2015 15:50:28 -0400 Subject: [PATCH] AP_MotorsHeli: add getters for rotor speed --- libraries/AP_Motors/AP_MotorsHeli.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h index ddeb33618b..4b98a01da5 100644 --- a/libraries/AP_Motors/AP_MotorsHeli.h +++ b/libraries/AP_Motors/AP_MotorsHeli.h @@ -176,6 +176,12 @@ public: // set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000 void set_desired_rotor_speed(int16_t desired_speed) { _desired_rotor_speed = desired_speed; } + // get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000 + int16_t get_desired_rotor_speed() const { return _desired_rotor_speed; } + + // get_estimated_rotor_speed - gets estimated rotor speed as a number from 0 ~ 1000 + int16_t get_estimated_rotor_speed() { return _rotor_speed_estimate; } + // return true if the main rotor is up to speed bool rotor_runup_complete() const;