From fb6db5e5645ce63514ddd1fc1e830de7098981df Mon Sep 17 00:00:00 2001
From: MidwestAire <ChrisKristin.Olson@gmail.com>
Date: Wed, 20 Jan 2021 14:44:08 -0600
Subject: [PATCH] Copter:Heli - changes for new Heli_RSC control modes move rpm
 out of case switch so it updates outside of autothrottle_run()

---
 ArduCopter/RC_Channel.cpp |  4 ++--
 ArduCopter/heli.cpp       | 22 +++++++++-------------
 2 files changed, 11 insertions(+), 15 deletions(-)

diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index 0038a16b6d..8949cb8134 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -350,9 +350,9 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
 
         case AUX_FUNC::MOTOR_INTERLOCK:
 #if FRAME_CONFIG == HELI_FRAME
-            // The interlock logic for ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH is handled 
+            // The interlock logic for ROTOR_CONTROL_MODE_PASSTHROUGH is handled 
             // in heli_update_rotor_speed_targets.  Otherwise turn on when above low.
-            if (copter.motors->get_rsc_mode() != ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH) {
+            if (copter.motors->get_rsc_mode() != ROTOR_CONTROL_MODE_PASSTHROUGH) {
                 copter.ap.motor_interlock_switch = (ch_flag == AuxSwitchPos::HIGH || ch_flag == AuxSwitchPos::MIDDLE);
             }
 #else
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 2118edc330..2ea4e56a25 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -159,9 +159,14 @@ void Copter::heli_update_rotor_speed_targets()
 
     // get rotor control method
     uint8_t rsc_control_mode = motors->get_rsc_mode();
+    
+#if RPM_ENABLED == ENABLED
+    // set rpm from rotor speed sensor
+    motors->set_rpm(rpm_sensor.get_rpm(0));
+#endif
 
     switch (rsc_control_mode) {
-        case ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH:
+        case ROTOR_CONTROL_MODE_PASSTHROUGH:
             // pass through pilot desired rotor speed from the RC
             if (get_pilot_desired_rotor_speed() > 0.01) {
                 ap.motor_interlock_switch = true;
@@ -171,19 +176,10 @@ void Copter::heli_update_rotor_speed_targets()
                 motors->set_desired_rotor_speed(0.0f);
             }
             break;
-        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. Needs work, this is pointless as it is
-            // not used by closed loop control. Being used as a catch-all for other modes regardless
-            // of whether or not they actually use it
-            // set rpm from rotor speed sensor
+        case ROTOR_CONTROL_MODE_SETPOINT:
+        case ROTOR_CONTROL_MODE_THROTTLECURVE:
+        case ROTOR_CONTROL_MODE_AUTOTHROTTLE:
             if (motors->get_interlock()) {
-#if RPM_ENABLED == ENABLED
-                float rpm = -1;
-                rpm_sensor.get_rpm(0, rpm);
-                motors->set_rpm(rpm);
-#endif
                 motors->set_desired_rotor_speed(motors->get_rsc_setpoint());
             }else{
                 motors->set_desired_rotor_speed(0.0f);