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AP_MotorsHeli_Single: DDVPT to use it's own ramp and runup times

This commit is contained in:
Robert Lefebvre 2015-08-12 13:46:13 -04:00 committed by Randy Mackay
parent 28318c4116
commit 535da1d79a
2 changed files with 7 additions and 5 deletions
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6
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -103,7 +103,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] PROGMEM = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("TAIL_SPEED", 10, AP_MotorsHeli_Single, _direct_drive_tailspeed, AP_MOTOR_HELI_SINGLE_DDTAIL_DEFAULT),
AP_GROUPINFO("TAIL_SPEED", 10, AP_MotorsHeli_Single, _direct_drive_tailspeed, AP_MOTORS_HELI_SINGLE_DDVPT_SPEED_DEFAULT),
AP_GROUPEND
};
@ -256,8 +256,8 @@ void AP_MotorsHeli_Single::calculate_scalars()
// send setpoints to tail rotor controller and trigger recalculation of scalars
if (_rsc_mode == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_SETPOINT);
_tail_rotor.set_ramp_time(_rsc_ramp_time);
_tail_rotor.set_runup_time(_rsc_runup_time);
_tail_rotor.set_ramp_time(AP_MOTORS_HELI_SINGLE_DDVPT_RAMP_TIME);
_tail_rotor.set_runup_time(AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_TIME);
_tail_rotor.set_critical_speed(_rsc_critical);
_tail_rotor.set_idle_output(_rsc_idle_output);
} else {

6
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -31,8 +31,10 @@
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH 2
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH 3
// default direct-drive variable pitch speed
#define AP_MOTOR_HELI_SINGLE_DDTAIL_DEFAULT 500
// default direct-drive variable pitch tail defaults
#define AP_MOTORS_HELI_SINGLE_DDVPT_SPEED_DEFAULT 500
#define AP_MOTORS_HELI_SINGLE_DDVPT_RAMP_TIME 2
#define AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_TIME 3
// default external gyro gain
#define AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN 350