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Copter: Tradheli support for turbine start

This commit is contained in:
Ferruccio1984 2021-10-27 06:06:23 -07:00 committed by Randy Mackay
parent 20f1d0c4da
commit 84bf3fb74e
2 changed files with 20 additions and 1 deletions
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1
ArduCopter/Copter.h
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@ -557,6 +557,7 @@ private:
uint8_t inverted_flight : 1; // 1 // true for inverted flight mode
uint8_t in_autorotation : 1; // 2 // true when heli is in autorotation
bool coll_stk_low ; // 3 // true when collective stick is on lower limit
uint8_t start_engine : 1; //3 //true for turbine start condition
} heli_flags_t;
heli_flags_t heli_flags;

18
ArduCopter/RC_Channel.cpp
View File

@ -102,6 +102,7 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxS
case AUX_FUNC::TURTLE:
case AUX_FUNC::SIMPLE_HEADING_RESET:
case AUX_FUNC::ARMDISARM_AIRMODE:
case AUX_FUNC::TURB_START:
break;
case AUX_FUNC::ACRO_TRAINER:
case AUX_FUNC::ATTCON_ACCEL_LIM:
@ -361,6 +362,23 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
#endif
break;
case AUX_FUNC::TURB_START:
#if FRAME_CONFIG == HELI_FRAME
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.motors->set_turb_start(true);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::LOW:
copter.motors->set_turb_start(false);
}
#endif
break;
case AUX_FUNC::BRAKE:
#if MODE_BRAKE_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::BRAKE, ch_flag);