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MotorsHeli_RSC: add RotorControlMode enum

This commit is contained in:
Randy Mackay 2015-08-28 15:22:23 +09:00
parent 72efc85ee8
commit cb47311416
1 changed files with 10 additions and 8 deletions
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18
libraries/AP_Motors/AP_MotorsHeli_RSC.h
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@ -15,11 +15,13 @@ enum RotorControlState {
};
// rotor control modes
#define ROTOR_CONTROL_MODE_DISABLED 0
#define ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH 1
#define ROTOR_CONTROL_MODE_SPEED_SETPOINT 2
#define ROTOR_CONTROL_MODE_OPEN_LOOP_POWER_OUTPUT 3
#define ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT 4
enum RotorControlMode {
ROTOR_CONTROL_MODE_DISABLED = 0,
ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH,
ROTOR_CONTROL_MODE_SPEED_SETPOINT,
ROTOR_CONTROL_MODE_OPEN_LOOP_POWER_OUTPUT,
ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT
};
class AP_MotorsHeli_RSC {
public:
@ -35,7 +37,7 @@ public:
void init_servo();
// set_control_mode - sets control mode
void set_control_mode(int8_t mode) { _control_mode = mode; }
void set_control_mode(RotorControlMode mode) { _control_mode = mode; }
// set_critical_speed
void set_critical_speed(int16_t critical_speed) { _critical_speed = critical_speed; }
@ -87,7 +89,7 @@ private:
float _loop_rate; // main loop rate
// internal variables
int8_t _control_mode = 0; // motor control mode, Passthrough or Setpoint
RotorControlMode _control_mode = ROTOR_CONTROL_MODE_DISABLED; // motor control mode, Passthrough or Setpoint
int16_t _critical_speed = 0; // rotor speed below which flight is not possible
int16_t _idle_output = 0; // motor output idle speed
int16_t _max_speed = 1000; // rotor maximum speed. Placeholder value until we have measured speed input (ToDo)
@ -115,4 +117,4 @@ private:
void write_rsc(int16_t servo_out);
};
#endif // AP_MOTORS_HELI_RSC_H
#endif // AP_MOTORS_HELI_RSC_H