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AP_MotorsHeli_Single: Add motor enable aux output functionality

This commit is contained in:
Robert Lefebvre 2015-10-14 11:19:16 -04:00 committed by Randy Mackay
parent 5ce386b98d
commit d11e5d4ae4
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -16,6 +16,7 @@
#include <stdlib.h>
#include <AP_HAL/AP_HAL.h>
#include <RC_Channel/RC_Channel.h>
#include "AP_MotorsHeli_Single.h"
extern const AP_HAL::HAL& hal;
@ -320,6 +321,14 @@ void AP_MotorsHeli_Single::update_motor_control(AP_MotorsHeli_RSC::MotorControlS
_tail_rotor.output(state);
_main_rotor.output(state);
if (state == AP_MotorsHeli_RSC::ROTOR_CONTROL_STOP){
// set engine run enable aux output to not run position to kill engine when disarmed
RC_Channel_aux::set_radio_to_min(RC_Channel_aux::k_engine_run_enable);
} else {
// else if armed, set engine run enable output to run position
RC_Channel_aux::set_radio_to_max(RC_Channel_aux::k_engine_run_enable);
}
// Check if both rotors are run-up, tail rotor controller always returns true if not enabled
_heliflags.rotor_runup_complete = ( _main_rotor.is_runup_complete() && _tail_rotor.is_runup_complete() );
}