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AP_MotorsHeli_RSC: Fix tail_type control

This commit is contained in:
Robert Lefebvre 2015-08-12 19:20:30 -04:00 committed by Randy Mackay
parent 6f153bb03d
commit 7fe90e7a34
1 changed files with 3 additions and 7 deletions
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8
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -207,17 +207,13 @@ bool AP_MotorsHeli_Single::allow_arming() const
return true; return true;
} }
// set_desired_rotor_speed // set_desired_rotor_speed
void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed) void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed)
{ {
_main_rotor.set_desired_speed(desired_speed); _main_rotor.set_desired_speed(desired_speed);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) { // always send desired speed to tail rotor control, will do nothing if not DDVPT not enabled
_tail_rotor.set_desired_speed(_direct_drive_tailspeed); _tail_rotor.set_desired_speed(_direct_drive_tailspeed);
} else {
_tail_rotor.set_desired_speed(0);
}
} }
// calculate_scalars - recalculates various scalers used. // calculate_scalars - recalculates various scalers used.
@ -254,7 +250,7 @@ void AP_MotorsHeli_Single::calculate_scalars()
_main_rotor.recalc_scalers(); _main_rotor.recalc_scalers();
// send setpoints to tail rotor controller and trigger recalculation of scalars // send setpoints to tail rotor controller and trigger recalculation of scalars
if (_rsc_mode == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) { if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_SETPOINT); _tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_SETPOINT);
_tail_rotor.set_ramp_time(AP_MOTORS_HELI_SINGLE_DDVPT_RAMP_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_runup_time(AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_TIME);