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AP_Motors: style formatting MotorsHeli_RSC.cpp

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Bill Geyer 2023-01-29 14:55:43 -05:00 committed by Bill Geyer
parent 1c9b4a8ac3
commit a209bd15eb
1 changed files with 98 additions and 94 deletions
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32
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
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@ -275,7 +275,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
_last_update_us = now;
}
switch (state){
switch (state) {
case ROTOR_CONTROL_STOP:
// set rotor ramp to decrease speed to zero, this happens instantly inside update_rotor_ramp()
update_rotor_ramp(0.0f, dt);
@ -306,13 +306,13 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
_governor_fault = false;
if (_in_autorotation) {
// if in autorotation and using an external governor, set the output to tell the governor to use bailout ramp
_idle_throttle = constrain_float( _ext_gov_arot_pct/100.0f , 0.0f, 0.4f);
if(!_autorotating){
_idle_throttle = constrain_float( _ext_gov_arot_pct/100.0f, 0.0f, 0.4f);
if (!_autorotating) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation");
_autorotating =true;
}
} else {
if(_autorotating){
if (_autorotating) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
_autorotating =false;
}
@ -324,7 +324,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
_starting = false;
}
} else{
} else {
if (_cooldown_time > 0) {
_idle_throttle = get_idle_output() * 1.5f;
_fast_idle_timer += dt;
@ -398,13 +398,13 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
// ramp output upwards towards target
if (_rotor_ramp_output < rotor_ramp_input) {
if (_use_bailout_ramp){
if(!_bailing_out){
if (_use_bailout_ramp) {
if (!_bailing_out) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "bailing_out");
_bailing_out = true;
}
_rotor_ramp_output += (dt / bailout_time);
}else{
} else {
_rotor_ramp_output += (dt / ramp_time);
}
if (_rotor_ramp_output > rotor_ramp_input) {
@ -412,7 +412,7 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
_bailing_out = false;
_use_bailout_ramp = false;
}
}else{
} else {
// ramping down happens instantly
_rotor_ramp_output = rotor_ramp_input;
}
@ -441,7 +441,7 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
if (_rotor_runup_output > _rotor_ramp_output) {
_rotor_runup_output = _rotor_ramp_output;
}
}else{
} else {
_rotor_runup_output -= runup_increment;
if (_rotor_runup_output < _rotor_ramp_output) {
_rotor_runup_output = _rotor_ramp_output;
@ -456,7 +456,7 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
// update run-up complete flag
// if control mode is disabled, then run-up complete always returns true
if ( _control_mode == ROTOR_CONTROL_MODE_DISABLED ){
if ( _control_mode == ROTOR_CONTROL_MODE_DISABLED ) {
_runup_complete = true;
return;
}
@ -471,7 +471,11 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
_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; }
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
@ -485,7 +489,7 @@ float AP_MotorsHeli_RSC::get_rotor_speed() const
// servo_out parameter is of the range 0 ~ 1
void AP_MotorsHeli_RSC::write_rsc(float servo_out)
{
if (_control_mode == ROTOR_CONTROL_MODE_DISABLED){
if (_control_mode == ROTOR_CONTROL_MODE_DISABLED) {
// do not do servo output to avoid conflicting with other output on the channel
// ToDo: We should probably use RC_Channel_Aux to avoid this problem
return;
@ -494,7 +498,7 @@ void AP_MotorsHeli_RSC::write_rsc(float servo_out)
}
}
// calculate_throttlecurve - uses throttle curve and collective input to determine throttle setting
// calculate_throttlecurve - uses throttle curve and collective input to determine throttle setting
float AP_MotorsHeli_RSC::calculate_throttlecurve(float collective_in)
{
const float inpt = collective_in * 4.0f + 1.0f;