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ACM: TradHeli 

Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
This commit is contained in:
Robert Lefebvre 2012-12-04 15:09:27 -05:00
parent 8c18a60766
commit a5c4e65cdf
1 changed files with 11 additions and 7 deletions
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18
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -527,22 +527,26 @@ void AP_MotorsHeli::rsc_control()
switch ( rsc_mode ) {
case AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH:
if( armed() && _rc_8->control_in > 10 ) {
if( armed() && (_rc_8->radio_in > (_rc_8->radio_min + 10))) {
if (rsc_ramp < rsc_ramp_up_rate) {
rsc_ramp++;
rsc_output = map(rsc_ramp, 0, rsc_ramp_up_rate, 1000, _rc_8->control_in);
rsc_output = map(rsc_ramp, 0, rsc_ramp_up_rate, _rc_8->radio_min, _rc_8->radio_in);
} else {
rsc_output = _rc_8->control_in;
rsc_output = _rc_8->radio_in;
}
} else if( !armed() ) {
_rc->OutputCh(AP_MOTORS_HELI_EXT_RSC, _rc_8->radio_min);
rsc_ramp = 0; //Return RSC Ramp to 0
} else {
rsc_ramp--; //Return RSC Ramp to 0 slowly, allowing for "warm restart"
if (rsc_ramp < 0) {
rsc_ramp = 0;
}
rsc_output = _rc_8->radio_min;
}
_rc->OutputCh(AP_MOTORS_HELI_EXT_RSC, rsc_output);
break;
case AP_MOTORSHELI_RSC_MODE_EXT_GOV:
if( armed() && _rc_throttle->control_in > 10) {
if( armed() && _rc_8->control_in > 100) {
if (rsc_ramp < rsc_ramp_up_rate) {
rsc_ramp++;
rsc_output = map(rsc_ramp, 0, rsc_ramp_up_rate, 1000, ext_gov_setpoint);