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AP_Motors: Correctly adjust heli run up timer in bailout

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Gone4Dirt 2020-04-04 09:58:46 +01:00 committed by Bill Geyer
parent 141ab622a3
commit 1b7672a84f
1 changed files with 11 additions and 6 deletions
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17
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
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@ -338,16 +338,21 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
// update_rotor_runup - function to slew rotor runup scalar, outputs float scalar to _rotor_runup_ouptut
void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
{
int8_t runup_time = _runup_time;
// sanity check runup time
if (_runup_time < _ramp_time) {
_runup_time = _ramp_time;
}
if (_runup_time <= 0 ) {
_runup_time = 1;
runup_time = MAX(_ramp_time+1,runup_time);
// adjust rotor runup when bailing out
if (_use_bailout_ramp) {
// maintain same delta as set in parameters
runup_time = _runup_time-_ramp_time+1;
}
// protect against divide by zero
runup_time = MAX(1,runup_time);
// ramp speed estimate towards control out
float runup_increment = dt / _runup_time;
float runup_increment = dt / runup_time;
if (_rotor_runup_output < _rotor_ramp_output) {
_rotor_runup_output += runup_increment;
if (_rotor_runup_output > _rotor_ramp_output) {