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AP_Motors: correct compilation when GCS library not available

This commit is contained in:
Peter Barker 2023-12-08 13:10:37 +11:00 committed by Andrew Tridgell
parent 6df3f18440
commit 6efc6d0f2d
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
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@ -313,12 +313,12 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
_idle_throttle = constrain_float( get_arot_idle_output(), 0.0f, 0.4f); _idle_throttle = constrain_float( get_arot_idle_output(), 0.0f, 0.4f);
} }
if (!_autorotating) { if (!_autorotating) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation");
_autorotating =true; _autorotating =true;
} }
} else { } else {
if (_autorotating) { if (_autorotating) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation Stopped"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
_autorotating =false; _autorotating =false;
} }
// set rotor control speed to idle speed parameter, this happens instantly and ignores ramping // set rotor control speed to idle speed parameter, this happens instantly and ignores ramping
@ -326,7 +326,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
_idle_throttle += 0.001f; _idle_throttle += 0.001f;
if (_control_output >= 1.0f) { if (_control_output >= 1.0f) {
_idle_throttle = get_idle_output(); _idle_throttle = get_idle_output();
gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Turbine startup");
_starting = false; _starting = false;
} }
} else { } else {
@ -408,7 +408,7 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
if (_rotor_ramp_output < rotor_ramp_input) { if (_rotor_ramp_output < rotor_ramp_input) {
if (_use_bailout_ramp) { if (_use_bailout_ramp) {
if (!_bailing_out) { if (!_bailing_out) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "bailing_out"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "bailing_out");
_bailing_out = true; _bailing_out = true;
if (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE) {_gov_bailing_out = true;} if (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE) {_gov_bailing_out = true;}
} }
@ -563,9 +563,9 @@ void AP_MotorsHeli_RSC::autothrottle_run()
governor_reset(); governor_reset();
_governor_fault = true; _governor_fault = true;
if (_rotor_rpm >= (_governor_rpm + _governor_range)) { if (_rotor_rpm >= (_governor_rpm + _governor_range)) {
gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
} else { } else {
gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Underspeed"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Underspeed");
} }
} }
} else { } else {
@ -577,7 +577,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
if (_rotor_rpm > (_governor_rpm + _governor_range) && !_gov_bailing_out) { if (_rotor_rpm > (_governor_rpm + _governor_range) && !_gov_bailing_out) {
_governor_fault = true; _governor_fault = true;
governor_reset(); governor_reset();
gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
_governor_output = 0.0f; _governor_output = 0.0f;
// when performing power recovery from autorotation, this waits for user to load rotor in order to // when performing power recovery from autorotation, this waits for user to load rotor in order to
@ -594,7 +594,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
_governor_engage = true; _governor_engage = true;
_autothrottle = true; _autothrottle = true;
_gov_bailing_out = false; _gov_bailing_out = false;
gcs().send_text(MAV_SEVERITY_NOTICE, "Governor Engaged"); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Governor Engaged");
} }
} else { } else {
// temporary use of throttle curve and ramp timer to accelerate rotor to governor min torque rise speed // temporary use of throttle curve and ramp timer to accelerate rotor to governor min torque rise speed