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Copter: remove runup event logging and in_autorotation flag

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This commit is contained in:
Iampete1 2024-02-26 23:10:31 +00:00 committed by Andrew Tridgell
parent b430d63a22
commit 6c44869c82
2 changed files with 4 additions and 18 deletions
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3
ArduCopter/Copter.h
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@ -580,8 +580,7 @@ private:
// Tradheli flags // Tradheli flags
typedef struct { typedef struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms) uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
uint8_t in_autorotation : 1; // 1 // true when heli is in autorotation bool coll_stk_low ; // 1 // true when collective stick is on lower limit
bool coll_stk_low ; // 2 // true when collective stick is on lower limit
} heli_flags_t; } heli_flags_t;
heli_flags_t heli_flags; heli_flags_t heli_flags;

19
ArduCopter/heli.cpp
View File

@ -154,9 +154,6 @@ float Copter::get_pilot_desired_rotor_speed() const
// heli_update_rotor_speed_targets - reads pilot input and passes new rotor speed targets to heli motors object // heli_update_rotor_speed_targets - reads pilot input and passes new rotor speed targets to heli motors object
void Copter::heli_update_rotor_speed_targets() void Copter::heli_update_rotor_speed_targets()
{ {
static bool rotor_runup_complete_last = false;
// get rotor control method // get rotor control method
uint8_t rsc_control_mode = motors->get_rsc_mode(); uint8_t rsc_control_mode = motors->get_rsc_mode();
@ -182,13 +179,6 @@ void Copter::heli_update_rotor_speed_targets()
break; break;
} }
// when rotor_runup_complete changes to true, log event
if (!rotor_runup_complete_last && motors->rotor_runup_complete()) {
LOGGER_WRITE_EVENT(LogEvent::ROTOR_RUNUP_COMPLETE);
} else if (rotor_runup_complete_last && !motors->rotor_runup_complete() && !heli_flags.in_autorotation) {
LOGGER_WRITE_EVENT(LogEvent::ROTOR_SPEED_BELOW_CRITICAL);
}
rotor_runup_complete_last = motors->rotor_runup_complete();
} }
@ -205,20 +195,17 @@ void Copter::heli_update_autorotation()
set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START); set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START);
} }
// set flag to facilitate both auto and manual autorotations // set flag to facilitate both auto and manual autorotations
heli_flags.in_autorotation = true; motors->set_in_autorotation(true);
motors->set_in_autorotation(heli_flags.in_autorotation);
motors->set_enable_bailout(true); motors->set_enable_bailout(true);
} }
#endif #endif
if (flightmode->has_manual_throttle() && motors->arot_man_enabled()) { if (flightmode->has_manual_throttle() && motors->arot_man_enabled()) {
// set flag to facilitate both auto and manual autorotations // set flag to facilitate both auto and manual autorotations
heli_flags.in_autorotation = true; motors->set_in_autorotation(true);
motors->set_in_autorotation(heli_flags.in_autorotation);
motors->set_enable_bailout(true); motors->set_enable_bailout(true);
} }
} else { } else {
heli_flags.in_autorotation = false; motors->set_in_autorotation(false);
motors->set_in_autorotation(heli_flags.in_autorotation);
motors->set_enable_bailout(false); motors->set_enable_bailout(false);
} }