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Copter:Heli - governor set_rpm call independent of frame type

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ChristopherOlson 2019-02-09 17:58:42 -06:00 committed by Randy Mackay
parent 2f7d198196
commit 9d03b44cf7
1 changed files with 6 additions and 3 deletions
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9
ArduCopter/heli.cpp
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@ -146,7 +146,7 @@ void Copter::heli_update_rotor_speed_targets()
} }
switch (rsc_control_mode) { switch (rsc_control_mode) {
case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH: case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH:
// pass through pilot desired rotor speed if control input is higher than 10, creating a deadband at the bottom // pass through pilot desired rotor speed from the RC
if (motors->get_interlock()) { if (motors->get_interlock()) {
motors->set_desired_rotor_speed(rsc_control_deglitched); motors->set_desired_rotor_speed(rsc_control_deglitched);
} else { } else {
@ -156,9 +156,12 @@ void Copter::heli_update_rotor_speed_targets()
case ROTOR_CONTROL_MODE_SPEED_SETPOINT: case ROTOR_CONTROL_MODE_SPEED_SETPOINT:
case ROTOR_CONTROL_MODE_OPEN_LOOP_POWER_OUTPUT: case ROTOR_CONTROL_MODE_OPEN_LOOP_POWER_OUTPUT:
case ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT: case ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT:
// pass setpoint through as desired rotor speed, this is almost pointless as the Setpoint serves no function in this mode // pass setpoint through as desired rotor speed. Needs work, this is pointless as it is
// other than being used to create a crude estimate of rotor speed // not used by closed loop control. Being used as a catch-all for other modes regardless
// of whether or not they actually use it
// set rpm from rotor speed sensor
if (motors->get_interlock()) { if (motors->get_interlock()) {
motors->set_rpm(rpm_sensor.get_rpm(0));
motors->set_desired_rotor_speed(motors->get_rsc_setpoint()); motors->set_desired_rotor_speed(motors->get_rsc_setpoint());
}else{ }else{
motors->set_desired_rotor_speed(0.0f); motors->set_desired_rotor_speed(0.0f);