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AP_MotorsHeli: RSC Mode 0 no longer a valid mode

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This commit is contained in:
Robert Lefebvre 2015-08-10 20:08:27 -04:00 committed by Randy Mackay
parent 981c96d8bc
commit cefa0c28a6
3 changed files with 9 additions and 22 deletions
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8
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -91,7 +91,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Param: RSC_MODE
// @DisplayName: Rotor Speed Control Mode
// @Description: Controls the source of the desired rotor speed, either ch8 or RSC_SETPOINT
// @Values: 0:None, 1:Ch8 Input, 2:SetPoint
// @Values: 1:Ch8 Input, 2:SetPoint
// @User: Standard
AP_GROUPINFO("RSC_MODE", 8, AP_MotorsHeli, _rsc_mode, AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH),
@ -218,12 +218,6 @@ bool AP_MotorsHeli::parameter_check() const
return true;
}
// return true if the main rotor is up to speed
bool AP_MotorsHeli::rotor_runup_complete() const
{
return _heliflags.rotor_runup_complete;
}
// reset_swash - free up swash for maximum movements. Used for set-up
void AP_MotorsHeli::reset_swash()
{

4
libraries/AP_Motors/AP_MotorsHeli.h
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@ -37,7 +37,7 @@
#define AP_MOTORS_HELI_LAND_COLLECTIVE_MIN 0
// main rotor speed control types (ch8 out)
#define AP_MOTORS_HELI_RSC_MODE_NONE 0 // main rotor ESC is directly connected to receiver, pilot controls ESC speed through transmitter directly
#define AP_MOTORS_HELI_RSC_MODE_NONE 0 // not a valid RSC Mode
#define AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH 1 // main rotor ESC is connected to RC8 (out), pilot desired rotor speed provided by CH8 input
#define AP_MOTORS_HELI_RSC_MODE_SETPOINT 2 // main rotor ESC is connected to RC8 (out), desired speed is held in RSC_SETPOINT parameter
@ -136,7 +136,7 @@ public:
virtual int16_t get_estimated_rotor_speed() const = 0;
// return true if the main rotor is up to speed
bool rotor_runup_complete() const;
bool rotor_runup_complete() const { return _heliflags.rotor_runup_complete; }
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
virtual bool rotor_speed_above_critical() const = 0;

11
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -195,7 +195,7 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
bool AP_MotorsHeli_Single::allow_arming() const
{
// returns false if main rotor speed is not zero
if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_NONE && _main_rotor.get_estimated_speed() > 0) {
if (_main_rotor.get_estimated_speed() > 0) {
return false;
}
@ -220,18 +220,11 @@ void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed)
// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters
void AP_MotorsHeli_Single::recalc_scalers()
{
if (_rsc_mode == AP_MOTORS_HELI_RSC_MODE_NONE) {
_main_rotor.set_ramp_time(0);
_main_rotor.set_runup_time(0);
_main_rotor.set_critical_speed(0);
_main_rotor.set_idle_speed(0);
} else {
_main_rotor.set_ramp_time(_rsc_ramp_time);
_main_rotor.set_runup_time(_rsc_runup_time);
_main_rotor.set_critical_speed(_rsc_critical);
_main_rotor.set_idle_speed(_rsc_idle);
}
_main_rotor.recalc_scalers();
if (_rsc_mode != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {