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AP_MotorsHeli_RSC: Split out rotor speed estimate into it's own function

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This commit is contained in:
Robert Lefebvre 2015-08-10 17:24:57 -04:00 committed by Randy Mackay
parent 064cc63512
commit ed08e9d531
2 changed files with 15 additions and 3 deletions
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15
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
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@ -65,9 +65,12 @@ void AP_MotorsHeli_RSC::output(uint8_t state)
break; break;
} }
// run speed ramp function to slew output smoothly, also updates estimated speed // run speed ramp function to slew output smoothly
speed_ramp(_control_speed); speed_ramp(_control_speed);
// update rotor speed estimate
update_speed_estimate();
// output to rsc servo // output to rsc servo
write_rsc(_control_out); write_rsc(_control_out);
} }
@ -94,6 +97,12 @@ void AP_MotorsHeli_RSC::speed_ramp(int16_t speed_target)
_control_out = speed_target; _control_out = speed_target;
} }
}
// update_speed_estimate - function to estimate speed
void AP_MotorsHeli_RSC::update_speed_estimate()
{
// ramp speed estimate towards control out // ramp speed estimate towards control out
if (_estimated_speed < _control_out) { if (_estimated_speed < _control_out) {
_estimated_speed += _runup_increment; _estimated_speed += _runup_increment;
@ -107,8 +116,8 @@ void AP_MotorsHeli_RSC::speed_ramp(int16_t speed_target)
} }
} }
// set runup complete flag // update run-up complete flag
if (!_runup_complete && speed_target > 0 && _estimated_speed >= speed_target) { if (!_runup_complete && _control_out > _idle_speed && _estimated_speed >= _control_out) {
_runup_complete = true; _runup_complete = true;
} }
if (_runup_complete && _estimated_speed <= _critical_speed) { if (_runup_complete && _estimated_speed <= _critical_speed) {

3
libraries/AP_Motors/AP_MotorsHeli_RSC.h
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@ -81,6 +81,9 @@ private:
// speed_ramp - ramps speed towards target, result put in _control_out // speed_ramp - ramps speed towards target, result put in _control_out
void speed_ramp(int16_t rotor_target); void speed_ramp(int16_t rotor_target);
// update_speed_estimate - function to estimate speed
void update_speed_estimate();
// write_rsc - outputs pwm onto output rsc channel. servo_out parameter is of the range 0 ~ 1000 // write_rsc - outputs pwm onto output rsc channel. servo_out parameter is of the range 0 ~ 1000
void write_rsc(int16_t servo_out); void write_rsc(int16_t servo_out);
}; };