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TradHeli: bug fix for main rotor ramp up

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The main rotor ramp was being held back by the rotor speed estimate
instead of being allowed to jump up to the estimate if it's lower.

Also fixed some incorrect indentation
This commit is contained in:
Randy Mackay 2013-12-05 21:24:20 +09:00
parent 58788d2934
commit 4148c4e024
1 changed files with 8 additions and 7 deletions
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15
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -700,11 +700,12 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
// range check rotor_target
rotor_target = constrain_int16(rotor_target,0,1000);
// initialise rotor_out to our estimated rotor speed
_rotor_out = _rotor_speed_estimate;
// ramp rotor esc output towards target
if (_rotor_out < rotor_target) {
// allow rotor out to jump to rotor's current speed
if (_rotor_out < _rotor_speed_estimate) {
_rotor_out = _rotor_speed_estimate;
}
// ramp up slowly to target
_rotor_out += _rsc_ramp_increment;
if (_rotor_out > rotor_target) {
@ -712,15 +713,15 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
}
}else{
// ramping down happens instantly
_rotor_out = rotor_target;
}
_rotor_out = rotor_target;
}
// ramp rotor speed estimate towards rotor out
if (_rotor_speed_estimate < _rotor_out) {
_rotor_speed_estimate += _rsc_runup_increment;
if (_rotor_speed_estimate > _rotor_out) {
_rotor_speed_estimate = _rotor_out;
}
}
}else{
_rotor_speed_estimate -= _rsc_runup_increment;
if (_rotor_speed_estimate < _rotor_out) {
@ -737,7 +738,7 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
}
// output to rsc servo
write_rsc(_rotor_out);
write_rsc(_rotor_out);
}
// tail_ramp - ramps tail motor towards target. Only used for direct drive variable pitch tails