Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

TradHeli: integrate RotorControlMode enum

This commit is contained in:
Randy Mackay 2015-08-28 15:23:58 +09:00
parent e3ff4ed9c4
commit e92296a0b7
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduCopter/heli.cpp
View File

@ -143,7 +143,7 @@ void Copter::heli_update_rotor_speed_targets()
switch (rsc_control_mode) {
case AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH:
case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH:
// pass through pilot desired rotor speed if control input is higher than 10, creating a deadband at the bottom
if (rsc_control_deglitched > 10) {
motors.set_interlock(true);
@ -153,8 +153,9 @@ void Copter::heli_update_rotor_speed_targets()
motors.set_desired_rotor_speed(0);
}
break;
case AP_MOTORS_HELI_RSC_MODE_SETPOINT:
case AP_MOTORS_HELI_RSC_MODE_THROTTLE_CURVE:
case ROTOR_CONTROL_MODE_SPEED_SETPOINT:
case ROTOR_CONTROL_MODE_OPEN_LOOP_POWER_OUTPUT:
case ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT:
// pass setpoint through as desired rotor speed, this is almost pointless as the Setpoint serves no function in this mode
// other than being used to create a crude estimate of rotor speed
if (rsc_control_deglitched > 0) {