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AP_Motors: add spoolup block

This commit is contained in:
Randy Mackay 2022-06-28 15:51:52 +09:00 committed by Peter Hall
parent b9280630f5
commit ff91bbd762
2 changed files with 10 additions and 0 deletions
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5
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -77,6 +77,11 @@ void AP_Motors::armed(bool arm)
void AP_Motors::set_desired_spool_state(DesiredSpoolState spool) void AP_Motors::set_desired_spool_state(DesiredSpoolState spool)
{ {
// check if spoolup has been blocked
if (_spoolup_block && (spool == DesiredSpoolState::THROTTLE_UNLIMITED)) {
return;
}
if (_armed || (spool == DesiredSpoolState::SHUT_DOWN)) { if (_armed || (spool == DesiredSpoolState::SHUT_DOWN)) {
_spool_desired = spool; _spool_desired = spool;
} }

5
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -123,6 +123,10 @@ public:
// get motor interlock status. true means motors run, false motors don't run // get motor interlock status. true means motors run, false motors don't run
bool get_interlock() const { return _interlock; } bool get_interlock() const { return _interlock; }
// get/set spoolup block
bool get_spoolup_block() const { return _spoolup_block; }
void set_spoolup_block(bool set) { _spoolup_block = set; }
// set_roll, set_pitch, set_yaw, set_throttle // set_roll, set_pitch, set_yaw, set_throttle
void set_roll(float roll_in) { _roll_in = roll_in; }; // range -1 ~ +1 void set_roll(float roll_in) { _roll_in = roll_in; }; // range -1 ~ +1
void set_roll_ff(float roll_in) { _roll_in_ff = roll_in; }; // range -1 ~ +1 void set_roll_ff(float roll_in) { _roll_in_ff = roll_in; }; // range -1 ~ +1
@ -361,6 +365,7 @@ private:
bool _armed; // 0 if disarmed, 1 if armed bool _armed; // 0 if disarmed, 1 if armed
bool _interlock; // 1 if the motor interlock is enabled (i.e. motors run), 0 if disabled (motors don't run) bool _interlock; // 1 if the motor interlock is enabled (i.e. motors run), 0 if disabled (motors don't run)
bool _initialised_ok; // 1 if initialisation was successful bool _initialised_ok; // 1 if initialisation was successful
bool _spoolup_block; // true if spoolup is blocked
static AP_Motors *_singleton; static AP_Motors *_singleton;
}; };