AP_Motors: add spool down complete flag

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -414,7 +414,7 @@ void AP_MotorsHeli::output_logic()
                 _spool_state = SpoolState::SPOOLING_UP;
                 break;
             }
-            if (!rotor_speed_above_critical()){
+            if (_heliflags.rotor_spooldown_complete){
                 _spool_state = SpoolState::GROUND_IDLE;
             }
             break;

libraries/AP_Motors/AP_MotorsHeli.h

@@ -247,6 +247,7 @@ protected:
         uint8_t land_complete           : 1;    // true if aircraft is landed
         uint8_t takeoff_collective      : 1;    // true if collective is above 30% between H_COL_MID and H_COL_MAX
         uint8_t below_mid_collective    : 1;    // true if collective is below H_COL_MID
+        uint8_t rotor_spooldown_complete : 1;    // true if the rotors have spooled down completely
     } _heliflags;
 
     // parameters

libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

@@ -514,6 +514,8 @@ void AP_MotorsHeli_Dual::update_motor_control(RotorControlState state)
 
     // Check if rotors are run-up
     _heliflags.rotor_runup_complete = _main_rotor.is_runup_complete();
+    // Check if rotors are spooled down
+    _heliflags.rotor_spooldown_complete = _main_rotor.is_spooldown_complete();
 }
 
 //

libraries/AP_Motors/AP_MotorsHeli_Quad.cpp

@@ -210,6 +210,8 @@ void AP_MotorsHeli_Quad::update_motor_control(RotorControlState state)
 
     // Check if rotors are run-up
     _heliflags.rotor_runup_complete = _main_rotor.is_runup_complete();
+    // Check if rotors are spooled down
+    _heliflags.rotor_spooldown_complete = _main_rotor.is_spooldown_complete();
 }
 
 //

libraries/AP_Motors/AP_MotorsHeli_RSC.cpp

@@ -382,6 +382,8 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
     if (_runup_complete && (get_rotor_speed() <= get_critical_speed())) {
         _runup_complete = false;
     }
+    // if rotor estimated speed is zero, then spooldown has been completed
+    if (get_rotor_speed() <= 0.0f) { _spooldown_complete = true; } else { _spooldown_complete = false; }
 }
 
 // get_rotor_speed - gets rotor speed either as an estimate, or (ToDO) a measured value

libraries/AP_Motors/AP_MotorsHeli_RSC.h

@@ -105,6 +105,9 @@ public:
     // is_runup_complete
     bool        is_runup_complete() const { return _runup_complete; }
 
+    // is_spooldown_complete
+    bool        is_spooldown_complete() const { return _spooldown_complete; }
+
     // set_ramp_time
     void        set_ramp_time(int8_t ramp_time) { _ramp_time = ramp_time; }
 
@@ -163,6 +166,7 @@ private:
     bool            _use_bailout_ramp;            // true if allowing RSC to quickly ramp up engine
     bool            _in_autorotation;              // true if vehicle is currently in an autorotation
     int16_t         _rsc_arot_bailout_pct;        // the throttle percentage sent to the external governor to signal that autorotation bailout ramp should be used
+    bool            _spooldown_complete;          // flag for determining if spooldown is complete
 
     // update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output
     void            update_rotor_ramp(float rotor_ramp_input, float dt);

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -393,6 +393,9 @@ void AP_MotorsHeli_Single::update_motor_control(RotorControlState state)
 
     // Check if both rotors are run-up, tail rotor controller always returns true if not enabled
     _heliflags.rotor_runup_complete = ( _main_rotor.is_runup_complete() && _tail_rotor.is_runup_complete() );
+
+    // Check if both rotors are spooled down, tail rotor controller always returns true if not enabled
+    _heliflags.rotor_spooldown_complete = ( _main_rotor.is_spooldown_complete() );
 }
 
 //