mirror of https://github.com/ArduPilot/ardupilot
22 lines
994 B
C
22 lines
994 B
C
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __HELI_H__
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#define __HELI_H__
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// Traditional helicopter variables and functions
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#if FRAME_CONFIG == HELI_FRAME
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// Mode filter to reject RC Input glitches. Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
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// and 1 high glitch. This is because any "off" glitches can be highly problematic for a helicopter running an ESC
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// governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
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ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
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// Tradheli flags
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static struct {
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uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
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uint8_t init_targets_on_arming : 1; // 1 // true if we have been disarmed, and need to reset rate controller targets when we arm
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} heli_flags;
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#endif // FRAME_CONFIG == HELI_FRAME
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#endif // __HELI_H__
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