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AP_MotorsHeli: Fix RSC Mode 3

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Robert Lefebvre 2015-08-12 20:41:56 -04:00 committed by Randy Mackay
parent 38ccd6e04f
commit bde43412d8
3 changed files with 3 additions and 3 deletions
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2
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -280,7 +280,7 @@ bool AP_MotorsHeli::parameter_check() const
}
// returns false if RSC Mode is not set to a valid control mode
if (_rsc_mode <= AP_MOTORS_HELI_RSC_MODE_DISABLED || _rsc_mode > AP_MOTORS_HELI_RSC_MODE_SETPOINT) {
if (_rsc_mode <= AP_MOTORS_HELI_RSC_MODE_DISABLED || _rsc_mode > AP_MOTORS_HELI_RSC_MODE_THROTTLE_CURVE) {
return false;
}

2
libraries/AP_Motors/AP_MotorsHeli.h
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@ -228,6 +228,7 @@ protected:
float _roll_scaler = 1; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _pitch_scaler = 1; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
float _collective_scalar = 1; // collective scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
float _main_rotor_power = 0; // estimated main rotor power load, range 0-1.0f, used for RSC feedforward
int16_t _collective_out = 0; // actual collective pitch value. Required by the main code for calculating cruise throttle
int16_t _collective_mid_pwm = 0; // collective mid parameter value converted to pwm form (i.e. 0 ~ 1000)
int16_t _delta_phase_angle = 0; // phase angle dynamic compensation
@ -236,7 +237,6 @@ protected:
int16_t _throttle_radio_passthrough = 0; // throttle control PWM direct from radio, used for manual control
int16_t _yaw_radio_passthrough = 0; // yaw control PWM direct from radio, used for manual control
int16_t _collective_range = 0; // maximum absolute collective pitch range (500 - 1000)
int16_t _main_rotor_power = 0; // estimated main rotor power load, range 0-1.0f, used for RSC feedforward
};
#endif // AP_MOTORSHELI

2
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -415,7 +415,7 @@ void AP_MotorsHeli_Single::move_actuators(int16_t roll_out, int16_t pitch_out, i
// feed power estimate into main rotor controller
// ToDo: include tail rotor power?
// ToDo: add main rotor cyclic power?
_main_rotor_power = ((abs(_collective_out - _collective_mid_pwm)) / _collective_range);
_main_rotor_power = ((float)(abs(_collective_out - _collective_mid_pwm)) / _collective_range);
_main_rotor.set_motor_load(_main_rotor_power);
// swashplate servos