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AP_MotorsHeli: Create RSC_IDLE param

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Robert Lefebvre 2015-08-07 19:58:49 -04:00 committed by Randy Mackay
parent 27f8d6bcd5
commit 214d60abb9
2 changed files with 12 additions and 0 deletions
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8
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -128,6 +128,14 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("RSC_CRITICAL", 12, AP_MotorsHeli, _rsc_critical, AP_MOTORS_HELI_RSC_CRITICAL),
// @Param: RSC_IDLE
// @DisplayName: Rotor Speed Output at Idle
// @Description: Rotor speed output while armed but rotor control speed is not engaged
// @Range: 0 500
// @Increment: 10
// @User: Standard
AP_GROUPINFO("RSC_IDLE", 13, AP_MotorsHeli, _rsc_idle, AP_MOTORS_HELI_RSC_IDLE_DEFAULT),
AP_GROUPEND
};

4
libraries/AP_Motors/AP_MotorsHeli.h
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@ -47,6 +47,9 @@
// default main rotor critical speed
#define AP_MOTORS_HELI_RSC_CRITICAL 500
// default main rotor idle speed
#define AP_MOTORS_HELI_RSC_IDLE_DEFAULT 0
// default main rotor ramp up time in seconds
#define AP_MOTORS_HELI_RSC_RAMP_TIME 1 // 1 second to ramp output to main rotor ESC to full power (most people use exterrnal govenors so we can ramp up quickly)
#define AP_MOTORS_HELI_RSC_RUNUP_TIME 10 // 10 seconds for rotor to reach full speed
@ -219,6 +222,7 @@ protected:
AP_Int8 _rsc_runup_time; // Time in seconds for the main rotor to reach full speed. Must be longer than _rsc_ramp_time
AP_Int16 _land_collective_min; // Minimum collective when landed or landing
AP_Int16 _rsc_critical; // Rotor speed below which flight is not possible
AP_Int16 _rsc_idle; // Rotor speed output while at idle
// internal variables
float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];