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AP_MotorsHeli: rotor speed function in 0 to 1 range

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This commit is contained in:
Randy Mackay 2016-02-03 17:58:44 +09:00
parent 832a226f13
commit b3334c3ae5
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_Motors/AP_MotorsHeli.h
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@ -100,17 +100,17 @@ public:
// get_rsc_mode - gets the rotor speed control method (AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH or AP_MOTORS_HELI_RSC_MODE_SETPOINT)
uint8_t get_rsc_mode() const { return _rsc_mode; }
// get_rsc_setpoint - gets contents of _rsc_setpoint parameter (0~1000)
int16_t get_rsc_setpoint() const { return _rsc_setpoint; }
// get_rsc_setpoint - gets contents of _rsc_setpoint parameter (0~1)
float get_rsc_setpoint() const { return _rsc_setpoint; }
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
virtual void set_desired_rotor_speed(int16_t desired_speed) = 0;
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1
virtual void set_desired_rotor_speed(float desired_speed) = 0;
// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000
virtual int16_t get_desired_rotor_speed() const = 0;
// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1
virtual float get_desired_rotor_speed() const = 0;
// get_main_rotor_speed - gets estimated or measured main rotor speed
virtual int16_t get_main_rotor_speed() const = 0;
virtual float get_main_rotor_speed() const = 0;
// return true if the main rotor is up to speed
bool rotor_runup_complete() const { return _heliflags.rotor_runup_complete; }