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AP_MotorsHeli: better governor power recovery from autorotation

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This commit is contained in:
Bill Geyer 2023-02-03 23:44:35 -05:00 committed by Bill Geyer
parent 40d18f46cf
commit eba850d9ef
2 changed files with 16 additions and 4 deletions
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19
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
View File

@ -293,6 +293,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
_starting = true;
_autorotating = false;
_bailing_out = false;
_gov_bailing_out = false;
// ensure _idle_throttle not set to invalid value
_idle_throttle = get_idle_output();
@ -341,8 +342,11 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
} else {
_idle_throttle = get_idle_output();
}
_use_bailout_ramp = false;
}
// this resets the bailout feature if the aircraft has landed.
_use_bailout_ramp = false;
_bailing_out = false;
_gov_bailing_out = false;
}
_control_output = _idle_throttle;
break;
@ -409,6 +413,7 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
if (!_bailing_out) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "bailing_out");
_bailing_out = true;
if (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE) {_gov_bailing_out = true;}
}
_rotor_ramp_output += (dt / bailout_time);
} else {
@ -561,14 +566,19 @@ void AP_MotorsHeli_RSC::autothrottle_run()
_governor_fault_count = 0; // reset fault count if the fault doesn't persist
}
} else if (!_governor_engage && !_governor_fault) {
// if governor is not engaged and rotor is overspeeding by more than 2% due to misconfigured
// throttle curve or stuck throttle, set a fault and governor will not operate
if (_rotor_rpm > (_governor_rpm + _governor_range)) {
// if governor is not engaged and rotor is overspeeding by more than governor range due to
// misconfigured throttle curve or stuck throttle, set a fault and governor will not operate
if (_rotor_rpm > (_governor_rpm + _governor_range) && !_gov_bailing_out) {
_governor_fault = true;
governor_reset();
gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
_governor_output = 0.0f;
// when performing power recovery from autorotation, this waits for user to load rotor in order to
// engage the governor
} else if (_rotor_rpm > _governor_rpm && _gov_bailing_out) {
_governor_output = 0.0f;
// torque rise limiter accelerates rotor to the reference speed
// this limits the max torque rise the governor could call for from the main power loop
} else if (_rotor_rpm >= (_governor_rpm * 0.5f)) {
@ -577,6 +587,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
if (_rotor_rpm >= ((float)_governor_rpm - torque_ref_error_rpm)) {
_governor_engage = true;
_autothrottle = true;
_gov_bailing_out = false;
gcs().send_text(MAV_SEVERITY_NOTICE, "Governor Engaged");
}
} else {

1
libraries/AP_Motors/AP_MotorsHeli_RSC.h
View File

@ -166,6 +166,7 @@ private:
bool _autorotating; // flag that holds the status of autorotation
bool _bailing_out; // flag that holds the status of bail out(power engagement)
float _idle_throttle; // current idle throttle setting
bool _gov_bailing_out; // flag that holds the status of governor bail out
// update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output
void update_rotor_ramp(float rotor_ramp_input, float dt);