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TradHeli: Add Heli.h file

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Robert Lefebvre 2014-05-10 09:34:30 -04:00 committed by Randy Mackay
parent 1f422c86c1
commit 8eb557d1e0
3 changed files with 26 additions and 12 deletions
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3
ArduCopter/ArduCopter.pde
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@ -166,6 +166,9 @@ static AP_Vehicle::MultiCopter aparm;
// Local modules
#include "Parameters.h"
// Heli modules
#include "heli.h"
////////////////////////////////////////////////////////////////////////////////
// cliSerial
////////////////////////////////////////////////////////////////////////////////

21
ArduCopter/heli.h Normal file
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@ -0,0 +1,21 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __HELI_H__
#define __HELI_H__
// Traditional helicopter variables and functions
#if FRAME_CONFIG == HELI_FRAME
// Mode filter to reject RC Input glitches. Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
// and 1 high glitch. This is because any "off" glitches can be highly problematic for a helicopter running an ESC
// governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
// Tradheli flags
static struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
} heli_flags;
#endif // FRAME_CONFIG == HELI_FRAME
#endif // __HELI_H__

14
ArduCopter/heli.pde
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@ -2,6 +2,8 @@
// Traditional helicopter variables and functions
#include "heli.h"
#if FRAME_CONFIG == HELI_FRAME
#ifndef HELI_DYNAMIC_FLIGHT_SPEED_MIN
@ -11,18 +13,6 @@
// counter to control dynamic flight profile
static int8_t heli_dynamic_flight_counter;
// Mode filter to reject RC Input glitches. Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
// and 1 high glitch. This is because any "off" glitches can be highly problematic for a helicopter running an ESC
// governor. Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
// Tradheli flags
static struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
} heli_flags;
// heli_init - perform any special initialisation required for the tradheli
static void heli_init()
{