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.

ArduCopter/Attitude.pde

@@ -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);

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -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:

libraries/AP_Motors/AP_MotorsHeli.h

@@ -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
 
 };