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MotorsHeli: integrate RotorControlState

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This commit is contained in:
Randy Mackay 2015-08-28 15:23:26 +09:00
parent cb47311416
commit e3ff4ed9c4
4 changed files with 9 additions and 15 deletions
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4
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -93,7 +93,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Description: Determines the method of rotor speed control
// @Values: 1:Ch8 Input, 2:SetPoint, 3:Throttle Curve
// @User: Standard
AP_GROUPINFO("RSC_MODE", 8, AP_MotorsHeli, _rsc_mode, AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH),
AP_GROUPINFO("RSC_MODE", 8, AP_MotorsHeli, _rsc_mode, (int8_t)ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH),
// @Param: LAND_COL_MIN
// @DisplayName: Landing Collective Minimum
@ -280,7 +280,7 @@ bool AP_MotorsHeli::parameter_check() const
}
// returns false if RSC Mode is not set to a valid control mode
if (_rsc_mode <= AP_MOTORS_HELI_RSC_MODE_DISABLED || _rsc_mode > AP_MOTORS_HELI_RSC_MODE_THROTTLE_CURVE) {
if (_rsc_mode <= (int8_t)ROTOR_CONTROL_MODE_DISABLED || _rsc_mode > (int8_t)ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT) {
return false;
}

8
libraries/AP_Motors/AP_MotorsHeli.h
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@ -36,12 +36,6 @@
// swash min while landed or landing (as a number from 0 ~ 1000
#define AP_MOTORS_HELI_LAND_COLLECTIVE_MIN 0
// main rotor speed control types (ch8 out)
#define AP_MOTORS_HELI_RSC_MODE_DISABLED 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
#define AP_MOTORS_HELI_RSC_MODE_THROTTLE_CURVE 3 // main rotor speed is controlled open-loop by a throttle servo or ESC connected to RC8(out)
// default main rotor speed (ch8 out) as a number from 0 ~ 1000
#define AP_MOTORS_HELI_RSC_SETPOINT 700
@ -178,7 +172,7 @@ protected:
void output_disarmed();
// update_motor_controls - sends commands to motor controllers
virtual void update_motor_control(uint8_t state) = 0;
virtual void update_motor_control(RotorControlState state) = 0;
// reset_flight_controls - resets all controls and scalars to flight status
void reset_flight_controls();

8
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -241,7 +241,7 @@ void AP_MotorsHeli_Single::calculate_scalars()
calculate_roll_pitch_collective_factors();
// send setpoints to main rotor controller and trigger recalculation of scalars
_main_rotor.set_control_mode(_rsc_mode);
_main_rotor.set_control_mode(static_cast<RotorControlMode>(_rsc_mode.get()));
_main_rotor.set_ramp_time(_rsc_ramp_time);
_main_rotor.set_runup_time(_rsc_runup_time);
_main_rotor.set_critical_speed(_rsc_critical);
@ -251,13 +251,13 @@ void AP_MotorsHeli_Single::calculate_scalars()
// send setpoints to tail rotor controller and trigger recalculation of scalars
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_SETPOINT);
_tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_SPEED_SETPOINT);
_tail_rotor.set_ramp_time(AP_MOTORS_HELI_SINGLE_DDVPT_RAMP_TIME);
_tail_rotor.set_runup_time(AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_TIME);
_tail_rotor.set_critical_speed(_rsc_critical);
_tail_rotor.set_idle_output(_rsc_idle_output);
} else {
_tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_DISABLED);
_tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_DISABLED);
_tail_rotor.set_ramp_time(0);
_tail_rotor.set_runup_time(0);
_tail_rotor.set_critical_speed(0);
@ -314,7 +314,7 @@ uint16_t AP_MotorsHeli_Single::get_motor_mask()
}
// update_motor_controls - sends commands to motor controllers
void AP_MotorsHeli_Single::update_motor_control(uint8_t state)
void AP_MotorsHeli_Single::update_motor_control(RotorControlState state)
{
// Send state update to motors
_tail_rotor.output(state);

2
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -131,7 +131,7 @@ protected:
void init_outputs();
// update_motor_controls - sends commands to motor controllers
void update_motor_control(uint8_t state);
void update_motor_control(RotorControlState state);
// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
void calculate_roll_pitch_collective_factors();