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Copter:Heli - changes for new Heli_RSC control modes

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move rpm out of case switch so it updates outside of autothrottle_run()
This commit is contained in:
MidwestAire 2021-01-20 14:44:08 -06:00 committed by Bill Geyer
parent 68ca18329c
commit fb6db5e564
2 changed files with 11 additions and 15 deletions
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4
ArduCopter/RC_Channel.cpp
View File

@ -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

22
ArduCopter/heli.cpp
View File

@ -160,8 +160,13 @@ 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);