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AP_Motors: allow change to heli rotor speed controls while armed

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this helps a lot with tuning for gas helis
This commit is contained in:
Andrew Tridgell 2015-11-15 09:14:03 +11:00 committed by Randy Mackay
parent 4eafd90864
commit 47b9f6598a
4 changed files with 21 additions and 7 deletions
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1
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -204,6 +204,7 @@ void AP_MotorsHeli::output()
update_throttle_filter();
if (_flags.armed) {
calculate_armed_scalars();
if (!_flags.interlock) {
output_armed_zero_throttle();
} else if (_flags.stabilizing) {

3
libraries/AP_Motors/AP_MotorsHeli.h
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@ -136,6 +136,9 @@ public:
// calculate_scalars - must be implemented by child classes
virtual void calculate_scalars() = 0;
// calculate_armed_scalars - must be implemented by child classes
virtual void calculate_armed_scalars() = 0;
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];

21
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -218,6 +218,18 @@ void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed)
_tail_rotor.set_desired_speed(_direct_drive_tailspeed);
}
// calculate_scalars - recalculates various scalers used.
void AP_MotorsHeli_Single::calculate_armed_scalars()
{
_main_rotor.set_ramp_time(_rsc_ramp_time);
_main_rotor.set_runup_time(_rsc_runup_time);
_main_rotor.set_critical_speed(_rsc_critical);
_main_rotor.set_idle_output(_rsc_idle_output);
_main_rotor.set_power_output_range(_rsc_power_low, _rsc_power_high);
_main_rotor.recalc_scalers();
}
// calculate_scalars - recalculates various scalers used.
void AP_MotorsHeli_Single::calculate_scalars()
{
@ -244,13 +256,8 @@ void AP_MotorsHeli_Single::calculate_scalars()
// send setpoints to main rotor controller and trigger recalculation of scalars
_main_rotor.set_control_mode(static_cast<RotorControlMode>(_rsc_mode.get()));
_main_rotor.set_ramp_time(_rsc_ramp_time);
_main_rotor.set_runup_time(_rsc_runup_time);
_main_rotor.set_critical_speed(_rsc_critical);
_main_rotor.set_idle_output(_rsc_idle_output);
_main_rotor.set_power_output_range(_rsc_power_low, _rsc_power_high);
_main_rotor.recalc_scalers();
calculate_armed_scalars();
// send setpoints to tail rotor controller and trigger recalculation of scalars
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_SPEED_SETPOINT);

3
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -95,6 +95,9 @@ public:
// calculate_scalars - recalculates various scalars used
void calculate_scalars();
// calculate_armed_scalars - recalculates scalars that can change while armed
void calculate_armed_scalars();
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask();