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AP_MotorsHeli: Semantic change. Motor Runup to Rotor Runup

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This commit is contained in:
Robert Lefebvre 2015-05-28 17:27:16 -04:00 committed by Randy Mackay
parent db3852522f
commit d24664ccf9
2 changed files with 9 additions and 12 deletions
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12
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -355,14 +355,14 @@ void AP_MotorsHeli::set_desired_rotor_speed(int16_t desired_speed)
}
// return true if the main rotor is up to speed
bool AP_MotorsHeli::motor_runup_complete() const
bool AP_MotorsHeli::rotor_runup_complete() const
{
// if we have no control of motors, assume pilot has spun them up
if (_rsc_mode == AP_MOTORS_HELI_RSC_MODE_NONE) {
return true;
}
return _heliflags.motor_runup_complete;
return _heliflags.rotor_runup_complete;
}
// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters
@ -759,11 +759,11 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
}
// set runup complete flag
if (!_heliflags.motor_runup_complete && rotor_target > 0 && _rotor_speed_estimate >= rotor_target) {
_heliflags.motor_runup_complete = true;
if (!_heliflags.rotor_runup_complete && rotor_target > 0 && _rotor_speed_estimate >= rotor_target) {
_heliflags.rotor_runup_complete = true;
}
if (_heliflags.motor_runup_complete && rotor_target == 0 && _rotor_speed_estimate <= 0) {
_heliflags.motor_runup_complete = false;
if (_heliflags.rotor_runup_complete && rotor_target == 0 && _rotor_speed_estimate <= 0) {
_heliflags.rotor_runup_complete = false;
}
// output to rsc servo

9
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -75,9 +75,6 @@
#define AP_MOTORS_HELI_RSC_RUNUP_TIME 10 // 10 seconds for rotor to reach full speed
#define AP_MOTORS_HELI_TAIL_RAMP_INCREMENT 5 // 5 is 2 seconds for direct drive tail rotor to reach to full speed (5 = (2sec*100hz)/1000)
// motor run-up time default in 100th of seconds
#define AP_MOTORS_HELI_MOTOR_RUNUP_TIME 500 // 500 = 5 seconds
// flybar types
#define AP_MOTORS_HELI_NOFLYBAR 0
#define AP_MOTORS_HELI_FLYBAR 1
@ -123,7 +120,7 @@ public:
// initialise flags
_heliflags.swash_initialised = 0;
_heliflags.landing_collective = 0;
_heliflags.motor_runup_complete = 0;
_heliflags.rotor_runup_complete = 0;
};
// init
@ -180,7 +177,7 @@ public:
void set_desired_rotor_speed(int16_t desired_speed);
// return true if the main rotor is up to speed
bool motor_runup_complete() const;
bool rotor_runup_complete() const;
// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters
void recalc_scalers();
@ -264,7 +261,7 @@ private:
struct heliflags_type {
uint8_t swash_initialised : 1; // true if swash has been initialised
uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum
uint8_t motor_runup_complete : 1; // true if the rotors have had enough time to wind up
uint8_t rotor_runup_complete : 1; // true if the rotors have had enough time to wind up
} _heliflags;
// parameters