From e30b4bf0902742bf02c71fb3bfd3f010dc5665ff Mon Sep 17 00:00:00 2001 From: bnsgeyer Date: Wed, 2 Oct 2024 23:30:49 -0400 Subject: [PATCH] AP_MotorsHeli: fix cooldown feature with new autorotation RSC library --- libraries/AP_Motors/AP_MotorsHeli_RSC.cpp | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp index 03d4bdb5c4..3f28495fc2 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp @@ -295,6 +295,10 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) // ensure _idle_throttle not set to invalid value _idle_throttle = get_idle_output(); + + // reset fast idle timer + _fast_idle_timer = 0.0; + break; case RotorControlState::IDLE: @@ -331,14 +335,11 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) _starting = false; } } else { - if (_cooldown_time > 0) { - _idle_throttle = get_idle_output() * 1.5f; - _fast_idle_timer += dt; - if (_fast_idle_timer > (float)_cooldown_time) { - _fast_idle_timer = 0.0f; - } - } else { - _idle_throttle = get_idle_output(); + _idle_throttle = get_idle_output(); + if (_fast_idle_timer > 0.0) { + // running at fast idle for engine cool down + _idle_throttle *= 1.5; + _fast_idle_timer -= dt; } } // this resets the bailout feature if the aircraft has landed. @@ -353,6 +354,11 @@ void AP_MotorsHeli_RSC::output(RotorControlState state) // set main rotor ramp to increase to full speed update_rotor_ramp(1.0f, dt); + // set fast idle timer so next time RSC goes to idle, the cooldown timer starts + if (_cooldown_time.get() > 0) { + _fast_idle_timer = _cooldown_time.get(); + } + // ensure _idle_throttle not set to invalid value due to premature switch out of turbine start if (_starting) { _idle_throttle = get_idle_output();