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AP_InertialSensor: Add config error for helis trying to use throttle notch

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MattKear 2024-12-05 04:47:20 +00:00 committed by Andrew Tridgell
parent ca0d50df73
commit 4f39a842b2
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1006,6 +1006,16 @@ AP_InertialSensor::init(uint16_t loop_rate)
#endif
#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
#if APM_BUILD_TYPE(APM_BUILD_Heli)
// Throttle tracking does not make sense with heli because "throttle" is actually collective position in AP_MotorsHeli
for (auto &notch : harmonic_notches) {
if (notch.params.enabled() && notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateThrottle) {
AP_BoardConfig::config_error("Throttle notch unavailable with heli");
}
}
#endif
// the center frequency of the harmonic notch is always taken from the calculated value so that it can be updated
// dynamically, the calculated value is always some multiple of the configured center frequency, so start with the
// configured value