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Fixing Trad Heli Ext ESC Controller 

-Added ramp-down rate instead of instantly setting ramp to zero when throttle is dropped to bottom. This is to allow "warm-restart" if shutdown was unintentional.
-Actual ESC still goes to zero while throttle is dropped to the bottom, only the ramp counter winds down slowly behind the scenes.
This commit is contained in:
Robert Lefebvre 2012-07-31 17:47:25 -04:00
parent 005b3d7f62
commit 54b320a9a0
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -487,7 +487,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
void AP_MotorsHeli::ext_esc_control()
{
switch ( AP_MOTORS_ESC_MODE_PASSTHROUGH ) {
switch ( AP_MOTORS_EXT_ESC_ACTIVE ) {
case AP_MOTORS_ESC_MODE_PASSTHROUGH:
if( armed() && _rc_8->control_in > 10 ){
@ -513,7 +513,10 @@ void AP_MotorsHeli::ext_esc_control()
ext_esc_output = ext_gov_setpoint;
}
} else {
ext_esc_ramp = 0; //Return ESC Ramp to 0
ext_esc_ramp--; //Return ESC Ramp to 0
if (ext_esc_ramp < 0){
ext_esc_ramp = 0;
}
ext_esc_output = 1000; //Just to be sure ESC output is 0
}
_rc->OutputCh(AP_MOTORS_HELI_EXT_ESC, ext_esc_output);