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AP_MotorsHeli: move rotor_speed_above_critical to RSC so that it is actually used

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This commit is contained in:
Gone4Dirt 2023-04-29 22:23:25 +01:00 committed by Bill Geyer
parent d3f2309eac
commit 4b2c1368bd
6 changed files with 5 additions and 14 deletions
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3
libraries/AP_Motors/AP_MotorsHeli.h
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@ -102,9 +102,6 @@ public:
// return true if the main rotor is up to speed
bool rotor_runup_complete() const { return _heliflags.rotor_runup_complete; }
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
virtual bool rotor_speed_above_critical() const = 0;
//get rotor governor output
virtual float get_governor_output() const = 0;

3
libraries/AP_Motors/AP_MotorsHeli_Dual.h
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@ -61,9 +61,6 @@ public:
// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000
float get_desired_rotor_speed() const override { return _main_rotor.get_rotor_speed(); }
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
bool rotor_speed_above_critical() const override { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }
// get_governor_output
float get_governor_output() const override { return _main_rotor.get_governor_output(); }

3
libraries/AP_Motors/AP_MotorsHeli_Quad.h
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@ -40,9 +40,6 @@ public:
// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000
float get_desired_rotor_speed() const override { return _main_rotor.get_rotor_speed(); }
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
bool rotor_speed_above_critical() const override { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }
// get_governor_output
float get_governor_output() const override { return _main_rotor.get_governor_output(); }

4
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
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@ -461,7 +461,7 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
}
// if in autorotation, don't let rotor_runup_output go less than critical speed to keep
// runup complete flag from being set to false
if (_autorotating && _rotor_runup_output < get_critical_speed()) {
if (_autorotating && !rotor_speed_above_critical()) {
_rotor_runup_output = get_critical_speed();
}
@ -479,7 +479,7 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
}
// if rotor speed is less than critical speed, then run-up is not complete
// this will prevent the case where the target rotor speed is less than critical speed
if (_runup_complete && (get_rotor_speed() < get_critical_speed())) {
if (_runup_complete && !rotor_speed_above_critical()) {
_runup_complete = false;
}
// if rotor estimated speed is zero, then spooldown has been completed

3
libraries/AP_Motors/AP_MotorsHeli_RSC.h
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@ -128,6 +128,9 @@ public:
// Return mask of output channels which the RSC is outputting on
uint32_t get_output_mask() const;
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
bool rotor_speed_above_critical(void) const { return get_rotor_speed() > get_critical_speed(); }
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];

3
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -61,9 +61,6 @@ public:
// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1
float get_desired_rotor_speed() const override { return _main_rotor.get_desired_speed(); }
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
bool rotor_speed_above_critical() const override { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }
// get_governor_output
float get_governor_output() const override { return _main_rotor.get_governor_output(); }