From da4a2ec85d134c1d2b26066b4ff5237dfe7d4370 Mon Sep 17 00:00:00 2001
From: Ferruccio1984 <niemals84@yahoo.it>
Date: Thu, 24 Mar 2022 08:39:41 -0700
Subject: [PATCH] Copter: Implementation of autorotation condition at RSC level

enables faster re-spool(user settable timer) after power engagement
---
 ArduCopter/Copter.h |  4 +---
 ArduCopter/config.h |  7 ++-----
 ArduCopter/heli.cpp | 23 ++++-------------------
 3 files changed, 7 insertions(+), 27 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 7319c26a9f..bbd39eec77 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -796,10 +796,8 @@ private:
     float get_pilot_desired_rotor_speed() const;
     void heli_update_rotor_speed_targets();
     void heli_update_autorotation();
-#if MODE_AUTOROTATE_ENABLED == ENABLED
-    void heli_set_autorotation(bool autotrotation);
-#endif
     void update_collective_low_flag(int16_t throttle_control);
+
     // inertia.cpp
     void read_inertia();
 
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 613237e9d9..9d1bb085ce 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -288,17 +288,14 @@
 
 //////////////////////////////////////////////////////////////////////////////
 // Autorotate - autonomous auto-rotation - helicopters only
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    #if FRAME_CONFIG == HELI_FRAME
+#if FRAME_CONFIG == HELI_FRAME
         #ifndef MODE_AUTOROTATE_ENABLED
         # define MODE_AUTOROTATE_ENABLED !HAL_MINIMIZE_FEATURES
         #endif
     #else
         # define MODE_AUTOROTATE_ENABLED DISABLED
-    #endif
-#else
-    # define MODE_AUTOROTATE_ENABLED DISABLED
 #endif
+
 //////////////////////////////////////////////////////////////////////////////
 
 // Beacon support - support for local positioning systems
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 350bcbcbbb..000e05b31c 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -185,7 +185,7 @@ void Copter::heli_update_rotor_speed_targets()
     // when rotor_runup_complete changes to true, log event
     if (!rotor_runup_complete_last && motors->rotor_runup_complete()){
         AP::logger().Write_Event(LogEvent::ROTOR_RUNUP_COMPLETE);
-    } else if (rotor_runup_complete_last && !motors->rotor_runup_complete()){
+    } else if (rotor_runup_complete_last && !motors->rotor_runup_complete() && !heli_flags.in_autorotation){
         AP::logger().Write_Event(LogEvent::ROTOR_SPEED_BELOW_CRITICAL);
     }
     rotor_runup_complete_last = motors->rotor_runup_complete();
@@ -205,31 +205,16 @@ void Copter::heli_update_autorotation()
         }
         // set flag to facilitate both auto and manual autorotations
         heli_flags.in_autorotation = true;
-    } else {
-        heli_flags.in_autorotation = false;
-    }
-
-    // sets autorotation flags through out libraries
-    heli_set_autorotation(heli_flags.in_autorotation);
-    if (!ap.land_complete && g2.arot.is_enable()) {
+        motors->set_in_autorotation(heli_flags.in_autorotation);
         motors->set_enable_bailout(true);
     } else {
+        heli_flags.in_autorotation = false;
+        motors->set_in_autorotation(heli_flags.in_autorotation);
         motors->set_enable_bailout(false);
     }
-#else
-    heli_flags.in_autorotation = false;
-    motors->set_enable_bailout(false);
 #endif
 }
 
-#if MODE_AUTOROTATE_ENABLED == ENABLED
-// heli_set_autorotation - set the autorotation flag throughout libraries
-void Copter::heli_set_autorotation(bool autorotation)
-{
-    motors->set_in_autorotation(autorotation);
-}
-#endif
-
 // update collective low flag.  Use a debounce time of 400 milliseconds.
 void Copter::update_collective_low_flag(int16_t throttle_control)
 {