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TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future.

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This commit is contained in:
Robert Lefebvre 2013-07-05 14:56:03 -04:00 committed by Randy Mackay
parent 957cb094ea
commit c812d07993
3 changed files with 36 additions and 1 deletions
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18
ArduCopter/Attitude.pde
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@ -259,10 +259,16 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
angle_error = constrain_int32(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
angle_error = 0;
}
#else
// reset target angle to current angle if motors not spinning
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// update roll_axis to be within max_angle_overshoot of our current heading
roll_axis = wrap_180_cd(angle_error + ahrs.roll_sensor);
@ -294,10 +300,16 @@ get_pitch_rate_stabilized_ef(int32_t stick_angle)
angle_error = constrain_int32(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
angle_error = 0;
}
#else
// reset target angle to current angle if motors not spinning
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// update pitch_axis to be within max_angle_overshoot of our current heading
pitch_axis = wrap_180_cd(angle_error + ahrs.pitch_sensor);
@ -326,10 +338,16 @@ get_yaw_rate_stabilized_ef(int32_t stick_angle)
// limit the maximum overshoot
angle_error = constrain_int32(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete) {
angle_error = 0;
}
#else
// reset target angle to current heading if motors not spinning
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// update nav_yaw to be within max_angle_overshoot of our current heading
nav_yaw = wrap_360_cd(angle_error + ahrs.yaw_sensor);

13
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -532,6 +532,19 @@ static long map(long x, long in_min, long in_max, long out_min, long out_max)
void AP_MotorsHeli::rsc_control() {
if (armed() && (rsc_ramp >= rsc_ramp_up_rate)){ // rsc_ramp will never increase if rsc_mode = 0
if (motor_runup_timer < MOTOR_RUNUP_TIME){ // therefore motor_runup_complete can never be true
motor_runup_timer++;
} else {
motor_runup_complete = true;
}
} else {
motor_runup_complete = false; // motor_runup_complete will go to false if we
motor_runup_timer = 0; // disarm or wind down the motor
}
switch ( rsc_mode ) {
case AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH:

6
libraries/AP_Motors/AP_MotorsHeli.h
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@ -34,6 +34,8 @@
#define FLYBARLESS_HEAD 0
#define FLYBAR_HEAD 1
// motor run-up timer
#define MOTOR_RUNUP_TIME 500 // 500 = 5 seconds
class AP_HeliControls;
@ -67,6 +69,7 @@ public:
_stab_throttle_scalar = 1;
_swash_initialised = false;
stab_throttle = false;
motor_runup_complete = false;
};
RC_Channel *_servo_1;
@ -96,6 +99,7 @@ public:
AP_Int8 stab_col_min; // collective pitch minimum in Stabilize Mode
AP_Int8 stab_col_max; // collective pitch maximum in Stabilize Mode
bool stab_throttle; // true if we are in Stabilize Mode for reduced Swash Range
bool motor_runup_complete; // true if the rotors have had enough time to wind up
int16_t coll_out; // returns the actual collective in use to the main code
// init
@ -150,7 +154,7 @@ protected:
bool _swash_initialised; // true if swash has been initialised
int16_t rsc_output; // final output to the external motor governor 1000-2000
int16_t rsc_ramp; // current state of ramping
int16_t motor_runup_timer; // timer to determine if motor has run up fully
};