aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: Allow manual autorotations without enabling arot flight mode

Browse Source
This commit is contained in:
Gone4Dirt 2020-04-01 15:42:39 +01:00 committed by Bill Geyer
parent b2d2bf61da
commit 9269ee50ed
1 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/heli.cpp
View File

@ -193,17 +193,21 @@ void Copter::heli_update_rotor_speed_targets()
void Copter::heli_update_autorotation() void Copter::heli_update_autorotation()
{ {
#if MODE_AUTOROTATE_ENABLED == ENABLED #if MODE_AUTOROTATE_ENABLED == ENABLED
//set autonomous autorotation flight mode // check if flying and interlock disengaged
if (!ap.land_complete && !motors->get_interlock() && !flightmode->has_manual_throttle() && g2.arot.is_enable()) { if (!ap.land_complete && !motors->get_interlock()) {
if (!flightmode->has_manual_throttle() && g2.arot.is_enable()) {
// set autonomous autorotation flight mode
set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START);
}
// set flag to facilitate both auto and manual autorotations
heli_flags.in_autorotation = true; heli_flags.in_autorotation = true;
set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START);
} else { } else {
heli_flags.in_autorotation = false; heli_flags.in_autorotation = false;
} }
// sets autorotation flags through out libraries // sets autorotation flags through out libraries
heli_set_autorotation(heli_flags.in_autorotation); heli_set_autorotation(heli_flags.in_autorotation);
if (!ap.land_complete && g2.arot.is_enable()) { if (!ap.land_complete) {
motors->set_enable_bailout(true); motors->set_enable_bailout(true);
} else { } else {
motors->set_enable_bailout(false); motors->set_enable_bailout(false);
@ -215,7 +219,7 @@ void Copter::heli_update_autorotation()
} }
#if MODE_AUTOROTATE_ENABLED == ENABLED #if MODE_AUTOROTATE_ENABLED == ENABLED
// heli_set_autorotation - set the autorotation f`lag throughout libraries // heli_set_autorotation - set the autorotation flag throughout libraries
void Copter::heli_set_autorotation(bool autorotation) void Copter::heli_set_autorotation(bool autorotation)
{ {
motors->set_in_autorotation(autorotation); motors->set_in_autorotation(autorotation);