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Copter: make code work for manual autorotations outside SITL

This commit is contained in:
Bill Geyer 2023-01-17 23:31:52 -05:00 committed by Bill Geyer
parent da4a2ec85d
commit 562050a800
2 changed files with 24 additions and 11 deletions
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6
ArduCopter/config.h
View File

@ -288,12 +288,16 @@
//////////////////////////////////////////////////////////////////////////////
// Autorotate - autonomous auto-rotation - helicopters only
#if FRAME_CONFIG == HELI_FRAME
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if FRAME_CONFIG == HELI_FRAME
#ifndef MODE_AUTOROTATE_ENABLED
# define MODE_AUTOROTATE_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#else
# define MODE_AUTOROTATE_ENABLED DISABLED
#endif
#else
# define MODE_AUTOROTATE_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////

29
ArduCopter/heli.cpp
View File

@ -196,23 +196,32 @@ void Copter::heli_update_rotor_speed_targets()
// to autorotation flight mode if manual collective is not being used.
void Copter::heli_update_autorotation()
{
#if MODE_AUTOROTATE_ENABLED == ENABLED
// check if flying and interlock disengaged
if (!ap.land_complete && !motors->get_interlock() && g2.arot.is_enable()) {
if (!flightmode->has_manual_throttle()) {
// set autonomous autorotation flight mode
set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START);
if (!ap.land_complete && !motors->get_interlock()) {
#if MODE_AUTOROTATE_ENABLED == ENABLED
if (g2.arot.is_enable()) {
if (!flightmode->has_manual_throttle()) {
// set autonomous autorotation flight mode
set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START);
}
// set flag to facilitate both auto and manual autorotations
heli_flags.in_autorotation = true;
motors->set_in_autorotation(heli_flags.in_autorotation);
motors->set_enable_bailout(true);
}
#endif
if (flightmode->has_manual_throttle() && motors->arot_man_enabled()) {
// set flag to facilitate both auto and manual autorotations
heli_flags.in_autorotation = true;
motors->set_in_autorotation(heli_flags.in_autorotation);
motors->set_enable_bailout(true);
}
// set flag to facilitate both auto and manual autorotations
heli_flags.in_autorotation = true;
motors->set_in_autorotation(heli_flags.in_autorotation);
motors->set_enable_bailout(true);
} else {
heli_flags.in_autorotation = false;
motors->set_in_autorotation(heli_flags.in_autorotation);
motors->set_enable_bailout(false);
}
#endif
}
// update collective low flag. Use a debounce time of 400 milliseconds.