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AP_Motors: move turbine start to update_turbine_start and style cleanup

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This commit is contained in:
Bill Geyer 2022-02-20 22:59:18 -05:00 committed by Randy Mackay
parent 2fa54f0df4
commit f7b420f131
5 changed files with 43 additions and 35 deletions
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12
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -232,6 +232,8 @@ void AP_MotorsHeli::output()
output_disarmed();
}
update_turbine_start();
output_to_motors();
};
@ -597,3 +599,13 @@ bool AP_MotorsHeli::heli_option(HeliOption opt) const
return (_heli_options & (uint8_t)opt);
}
// updates the turbine start flag
void AP_MotorsHeli::update_turbine_start()
{
if (_heliflags.start_engine) {
_main_rotor.set_turbine_start(true);
} else {
_main_rotor.set_turbine_start(false);
}
}

5
libraries/AP_Motors/AP_MotorsHeli.h
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@ -225,6 +225,9 @@ protected:
const char* _get_frame_string() const override { return "HELI"; }
// update turbine start flag
void update_turbine_start();
// enum values for HOVER_LEARN parameter
enum HoverLearn {
HOVER_LEARN_DISABLED = 0,
@ -246,7 +249,7 @@ protected:
uint8_t takeoff_collective : 1; // true if collective is above 30% between H_COL_MID and H_COL_MAX
uint8_t below_land_min_coll : 1; // true if collective is below H_COL_LAND_MIN
uint8_t rotor_spooldown_complete : 1; // true if the rotors have spooled down completely
uint8_t start_engine : 1;
uint8_t start_engine : 1; // true if turbine start RC option is initiated
} _heliflags;
// parameters

7
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
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@ -15,10 +15,7 @@
#include <stdlib.h>
#include <AP_HAL/AP_HAL.h>
<<<<<<< HEAD
=======
#include <GCS_MAVLink/GCS.h>
>>>>>>> 5faab0ee08... AP_Motors: tradheli support for turbine start
#include "AP_MotorsHeli_RSC.h"
#include <AP_RPM/AP_RPM.h>
@ -291,7 +288,6 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
// set rotor control speed to idle speed parameter, this happens instantly and ignores ramping
if (_turbine_start && _starting == true ) {
_control_output += 0.001f;
if (_control_output >= 1.0f) {
_control_output = get_idle_output();
gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
@ -315,6 +311,9 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
// set main rotor ramp to increase to full speed
update_rotor_ramp(1.0f, dt);
// if turbine engine started without using start sequence, set starting flag just to be sure it can't be triggered when back in idle
_starting = false;
if ((_control_mode == ROTOR_CONTROL_MODE_PASSTHROUGH) || (_control_mode == ROTOR_CONTROL_MODE_SETPOINT)) {
// set control rotor speed to ramp slewed value between idle and desired speed
_control_output = get_idle_output() + (_rotor_ramp_output * (_desired_speed - get_idle_output()));

6
libraries/AP_Motors/AP_MotorsHeli_RSC.h
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@ -114,7 +114,7 @@ public:
void set_ext_gov_arot_bail(int16_t pct) { _rsc_arot_bailout_pct = pct; }
// turbine start initialize sequence
void set_turbine_start(bool turbine_start) {_turbine_start = (bool)turbine_start; }
void set_turbine_start(bool turbine_start) {_turbine_start = turbine_start; }
// output - update value to send to ESC/Servo
void output(RotorControlState state);
@ -148,8 +148,8 @@ private:
float _thrcrv_poly[4][4]; // spline polynomials for throttle curve interpolation
float _collective_in; // collective in for throttle curve calculation, range 0-1.0f
float _rotor_rpm; // rotor rpm from speed sensor for governor
bool _turbine_start;
bool _starting;
bool _turbine_start; // initiates starting sequence
bool _starting; // tracks if starting sequence has been used
float _governor_output; // governor output for rotor speed control
bool _governor_engage; // RSC governor status flag
bool _autothrottle; // autothrottle status flag

6
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -292,12 +292,6 @@ void AP_MotorsHeli_Single::calculate_armed_scalars()
_main_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
_tail_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
if (_heliflags.start_engine) {
_main_rotor.set_turbine_start(true);
} else {
_main_rotor.set_turbine_start(false);
}
// allow use of external governor autorotation bailout
if (_main_rotor._ext_gov_arot_pct.get() > 0) {
// RSC only needs to know that the vehicle is in an autorotation if using the bailout window on an external governor