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Copter: fixed heli SITL build

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This commit is contained in:
Andrew Tridgell 2015-06-01 08:10:30 +10:00
parent 14bdfe2889
commit e5e21ddcce
3 changed files with 13 additions and 27 deletions
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16
ArduCopter/Copter.h
View File

@ -112,9 +112,6 @@
// Local modules
#include "Parameters.h"
// Heli modules
#include "heli.h"
class Copter {
public:
friend class GCS_MAVLINK;
@ -498,6 +495,19 @@ private:
// setup the var_info table
AP_Param param_loader;
#if FRAME_CONFIG == HELI_FRAME
// Mode filter to reject RC Input glitches. Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
// and 1 high glitch. This is because any "off" glitches can be highly problematic for a helicopter running an ESC
// governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
ModeFilterInt16_Size5 rotor_speed_deglitch_filter {4};
// Tradheli flags
struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
uint8_t init_targets_on_arming : 1; // 1 // true if we have been disarmed, and need to reset rate controller targets when we arm
} heli_flags;
#endif
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[];

2
ArduCopter/heli.cpp
View File

@ -4,8 +4,6 @@
// Traditional helicopter variables and functions
#include "heli.h"
#if FRAME_CONFIG == HELI_FRAME
#ifndef HELI_DYNAMIC_FLIGHT_SPEED_MIN

22
ArduCopter/heli.h
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@ -1,22 +0,0 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __HELI_H__
#define __HELI_H__
// Traditional helicopter variables and functions
#if FRAME_CONFIG == HELI_FRAME
// Mode filter to reject RC Input glitches. Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
// and 1 high glitch. This is because any "off" glitches can be highly problematic for a helicopter running an ESC
// governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
// Tradheli flags
static struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
uint8_t init_targets_on_arming : 1; // 1 // true if we have been disarmed, and need to reset rate controller targets when we arm
} heli_flags;
#endif // FRAME_CONFIG == HELI_FRAME
#endif // __HELI_H__