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AP_MotorsHeli: Simplify set_desired_rotor_speed function definition

This commit is contained in:
Robert Lefebvre 2015-06-18 15:23:51 -04:00 committed by Randy Mackay
parent 3e2e0d07a4
commit 8b917b82ee
2 changed files with 7 additions and 13 deletions
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14
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -348,12 +348,6 @@ bool AP_MotorsHeli::allow_arming() const
return true;
}
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void AP_MotorsHeli::set_desired_rotor_speed(int16_t desired_speed)
{
_rotor_desired = desired_speed;
}
// return true if the main rotor is up to speed
bool AP_MotorsHeli::rotor_runup_complete() const
{
@ -616,7 +610,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
// rudder feed forward based on collective
// the feed-forward is not required when the motor is shut down and not creating torque
// also not required if we are using external gyro
if ((_rotor_desired > 0) && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
if ((_desired_rotor_speed > 0) && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
// sanity check collective_yaw_effect
_collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTOR_HELI_COLYAW_RANGE, AP_MOTOR_HELI_COLYAW_RANGE);
yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm);
@ -682,12 +676,12 @@ void AP_MotorsHeli::rsc_control()
}
// ramp up or down main rotor and tail
if (_rotor_desired > 0) {
if (_desired_rotor_speed > 0) {
// ramp up tail rotor (this does nothing if not using direct drive variable pitch tail)
tail_ramp(_direct_drive_tailspeed);
// note: this always returns true if not using direct drive variable pitch tail
if (tail_rotor_runup_complete()) {
rotor_ramp(_rotor_desired);
rotor_ramp(_desired_rotor_speed);
}
}else{
// shutting down main rotor
@ -699,7 +693,7 @@ void AP_MotorsHeli::rsc_control()
// direct drive fixed pitch tail servo gets copy of yaw servo out (ch4) while main rotor is running
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_FIXEDPITCH) {
// output fixed-pitch speed control if Ch8 is high
if (_rotor_desired > 0 || _rotor_speed_estimate > 0) {
if (_desired_rotor_speed > 0 || _rotor_speed_estimate > 0) {
// copy yaw output to tail esc
write_aux(_servo_4.servo_out);
}else{

6
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -107,7 +107,7 @@ public:
_collective_scalar_manual(1),
_collective_out(0),
_collective_mid_pwm(0),
_rotor_desired(0),
_desired_rotor_speed(0),
_rotor_out(0),
_rsc_ramp_increment(0.0f),
_rsc_runup_increment(0.0f),
@ -174,7 +174,7 @@ public:
int16_t get_rsc_setpoint() const { return _rsc_setpoint; }
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void set_desired_rotor_speed(int16_t desired_speed);
void set_desired_rotor_speed(int16_t desired_speed) { _desired_rotor_speed = desired_speed; }
// return true if the main rotor is up to speed
bool rotor_runup_complete() const;
@ -297,7 +297,7 @@ private:
float _collective_scalar_manual; // collective scalar to reduce the range of the collective movement while collective is being controlled manually (i.e. directly by the pilot)
int16_t _collective_out; // actual collective pitch value. Required by the main code for calculating cruise throttle
int16_t _collective_mid_pwm; // collective mid parameter value converted to pwm form (i.e. 0 ~ 1000)
int16_t _rotor_desired; // latest desired rotor speed from pilot
int16_t _desired_rotor_speed; // latest desired rotor speed from pilot
float _rotor_out; // latest output sent to the main rotor or an estimate of the rotors actual speed (whichever is higher) (0 ~ 1000)
float _rsc_ramp_increment; // the amount we can increase the rotor output during each 100hz iteration
float _rsc_runup_increment; // the amount we can increase the rotor's estimated speed during each 100hz iteration