#include <AP_MotorsHeli_RSC.h>

Public Member Functions
	AP_MotorsHeli_RSC (SRV_Channel::Aux_servo_function_t aux_fn, uint8_t default_channel)

void	init_servo ()

void	set_control_mode (RotorControlMode mode)

void	set_critical_speed (float critical_speed)

float	get_critical_speed () const

float	get_idle_output ()

void	set_idle_output (float idle_output)

float	get_desired_speed () const

void	set_desired_speed (float desired_speed)

float	get_control_output () const

float	get_rotor_speed () const

bool	is_runup_complete () const

void	set_ramp_time (int8_t ramp_time)

void	set_runup_time (int8_t runup_time)

void	set_throttle_curve (float thrcrv[5], uint16_t slewrate)

void	set_collective (float collective)

void	output (RotorControlState state)

Private Member Functions
void	update_rotor_ramp (float rotor_ramp_input, float dt)

void	update_rotor_runup (float dt)

void	write_rsc (float servo_out)

float	calculate_desired_throttle (float collective_in)

Private Attributes
uint64_t	_last_update_us

SRV_Channel::Aux_servo_function_t	_aux_fn

uint8_t	_default_channel

RotorControlMode	_control_mode = ROTOR_CONTROL_MODE_DISABLED

float	_critical_speed = 0.0f

float	_idle_output = 0.0f

float	_desired_speed = 0.0f

float	_control_output = 0.0f

float	_rotor_ramp_output = 0.0f

float	_rotor_runup_output = 0.0f

int8_t	_ramp_time = 0

int8_t	_runup_time = 0

bool	_runup_complete = false

float	_thrcrv_poly [4][4]

uint16_t	_power_slewrate = 0

float	_collective_in

Friends
class	AP_MotorsHeli_Single

class	AP_MotorsHeli_Dual

class	AP_MotorsHeli_Quad

Detailed Description

Definition at line 24 of file AP_MotorsHeli_RSC.h.

Constructor & Destructor Documentation

◆ AP_MotorsHeli_RSC()

AP_MotorsHeli_RSC::AP_MotorsHeli_RSC	(	SRV_Channel::Aux_servo_function_t	aux_fn,
		uint8_t	default_channel
	)

inline

Definition at line 30 of file AP_MotorsHeli_RSC.h.

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Member Function Documentation

◆ calculate_desired_throttle()

float AP_MotorsHeli_RSC::calculate_desired_throttle ( float collective_in )

private

Definition at line 195 of file AP_MotorsHeli_RSC.cpp.

Referenced by output().

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◆ get_control_output()

float AP_MotorsHeli_RSC::get_control_output ( ) const

inline

Definition at line 59 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Single::move_actuators().

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◆ get_critical_speed()

float AP_MotorsHeli_RSC::get_critical_speed ( ) const

inline

Definition at line 46 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::rotor_speed_above_critical(), AP_MotorsHeli_Dual::rotor_speed_above_critical(), and AP_MotorsHeli_Single::rotor_speed_above_critical().

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◆ get_desired_speed()

float AP_MotorsHeli_RSC::get_desired_speed ( ) const

inline

Definition at line 53 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Single::get_desired_rotor_speed(), and AP_MotorsHeli_Single::move_yaw().

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◆ get_idle_output()

float AP_MotorsHeli_RSC::get_idle_output ( )

inline

Definition at line 49 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Single::move_actuators().

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◆ get_rotor_speed()

float AP_MotorsHeli_RSC::get_rotor_speed ( ) const

Definition at line 175 of file AP_MotorsHeli_RSC.cpp.

Referenced by get_control_output(), AP_MotorsHeli_Quad::get_desired_rotor_speed(), AP_MotorsHeli_Dual::get_desired_rotor_speed(), AP_MotorsHeli_Quad::get_main_rotor_speed(), AP_MotorsHeli_Dual::get_main_rotor_speed(), AP_MotorsHeli_Single::get_main_rotor_speed(), AP_MotorsHeli_Quad::rotor_speed_above_critical(), AP_MotorsHeli_Dual::rotor_speed_above_critical(), AP_MotorsHeli_Single::rotor_speed_above_critical(), and update_rotor_runup().

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◆ init_servo()

void AP_MotorsHeli_RSC::init_servo ( )

Definition at line 24 of file AP_MotorsHeli_RSC.cpp.

Referenced by AP_MotorsHeli_RSC(), AP_MotorsHeli_Quad::init_outputs(), AP_MotorsHeli_Dual::init_outputs(), and AP_MotorsHeli_Single::init_outputs().

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◆ is_runup_complete()

bool AP_MotorsHeli_RSC::is_runup_complete ( ) const

inline

Definition at line 65 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::update_motor_control(), AP_MotorsHeli_Dual::update_motor_control(), and AP_MotorsHeli_Single::update_motor_control().

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◆ output()

void AP_MotorsHeli_RSC::output ( RotorControlState state )

Definition at line 46 of file AP_MotorsHeli_RSC.cpp.

Referenced by set_collective(), AP_MotorsHeli_Quad::update_motor_control(), AP_MotorsHeli_Dual::update_motor_control(), and AP_MotorsHeli_Single::update_motor_control().

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◆ set_collective()

void AP_MotorsHeli_RSC::set_collective ( float collective )

inline

Definition at line 77 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::move_actuators(), AP_MotorsHeli_Dual::move_actuators(), and AP_MotorsHeli_Single::move_actuators().

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◆ set_control_mode()

void AP_MotorsHeli_RSC::set_control_mode ( RotorControlMode mode )

inline

Definition at line 40 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::calculate_scalars(), AP_MotorsHeli_Dual::calculate_scalars(), and AP_MotorsHeli_Single::calculate_scalars().

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◆ set_critical_speed()

void AP_MotorsHeli_RSC::set_critical_speed ( float critical_speed )

inline

Definition at line 43 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), and AP_MotorsHeli_Single::calculate_scalars().

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◆ set_desired_speed()

void AP_MotorsHeli_RSC::set_desired_speed ( float desired_speed )

inline

Definition at line 56 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::set_desired_rotor_speed(), AP_MotorsHeli_Dual::set_desired_rotor_speed(), and AP_MotorsHeli_Single::set_desired_rotor_speed().

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◆ set_idle_output()

void AP_MotorsHeli_RSC::set_idle_output ( float idle_output )

inline

Definition at line 50 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), and AP_MotorsHeli_Single::calculate_scalars().

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◆ set_ramp_time()

void AP_MotorsHeli_RSC::set_ramp_time ( int8_t ramp_time )

inline

Definition at line 68 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), and AP_MotorsHeli_Single::calculate_scalars().

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◆ set_runup_time()

void AP_MotorsHeli_RSC::set_runup_time ( int8_t runup_time )

inline

Definition at line 71 of file AP_MotorsHeli_RSC.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), and AP_MotorsHeli_Single::calculate_scalars().

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◆ set_throttle_curve()

void AP_MotorsHeli_RSC::set_throttle_curve	(	float	thrcrv[5],
		uint16_t	slewrate
	)

Definition at line 32 of file AP_MotorsHeli_RSC.cpp.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), and set_runup_time().

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◆ update_rotor_ramp()

void AP_MotorsHeli_RSC::update_rotor_ramp	(	float	rotor_ramp_input,
		float	dt
	)

private

Definition at line 106 of file AP_MotorsHeli_RSC.cpp.

Referenced by output().

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◆ update_rotor_runup()

void AP_MotorsHeli_RSC::update_rotor_runup ( float dt )

private

Definition at line 131 of file AP_MotorsHeli_RSC.cpp.

Referenced by output().

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◆ write_rsc()

void AP_MotorsHeli_RSC::write_rsc ( float servo_out )

private

Definition at line 183 of file AP_MotorsHeli_RSC.cpp.

Referenced by output().

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Friends And Related Function Documentation

◆ AP_MotorsHeli_Dual

friend class AP_MotorsHeli_Dual

friend

Definition at line 27 of file AP_MotorsHeli_RSC.h.

◆ AP_MotorsHeli_Quad

friend class AP_MotorsHeli_Quad

friend

Definition at line 28 of file AP_MotorsHeli_RSC.h.

◆ AP_MotorsHeli_Single

friend class AP_MotorsHeli_Single

friend

Definition at line 26 of file AP_MotorsHeli_RSC.h.

Member Data Documentation

◆ _aux_fn

SRV_Channel::Aux_servo_function_t AP_MotorsHeli_RSC::_aux_fn

private

Definition at line 86 of file AP_MotorsHeli_RSC.h.

Referenced by init_servo(), and write_rsc().

◆ _collective_in

float AP_MotorsHeli_RSC::_collective_in

private

Definition at line 102 of file AP_MotorsHeli_RSC.h.

Referenced by output(), and set_collective().

◆ _control_mode

RotorControlMode AP_MotorsHeli_RSC::_control_mode = ROTOR_CONTROL_MODE_DISABLED

private

Definition at line 90 of file AP_MotorsHeli_RSC.h.

Referenced by output(), set_control_mode(), update_rotor_runup(), and write_rsc().

◆ _control_output

float AP_MotorsHeli_RSC::_control_output = 0.0f

private

Definition at line 94 of file AP_MotorsHeli_RSC.h.

Referenced by get_control_output(), and output().

◆ _critical_speed

float AP_MotorsHeli_RSC::_critical_speed = 0.0f

private

Definition at line 91 of file AP_MotorsHeli_RSC.h.

Referenced by get_critical_speed(), set_critical_speed(), and update_rotor_runup().

◆ _default_channel

uint8_t AP_MotorsHeli_RSC::_default_channel

private

Definition at line 87 of file AP_MotorsHeli_RSC.h.

Referenced by init_servo().

◆ _desired_speed

float AP_MotorsHeli_RSC::_desired_speed = 0.0f

private

Definition at line 93 of file AP_MotorsHeli_RSC.h.

Referenced by get_desired_speed(), output(), and set_desired_speed().

◆ _idle_output

float AP_MotorsHeli_RSC::_idle_output = 0.0f

private

Definition at line 92 of file AP_MotorsHeli_RSC.h.

Referenced by get_idle_output(), output(), and set_idle_output().

◆ _last_update_us

uint64_t AP_MotorsHeli_RSC::_last_update_us

private

Definition at line 83 of file AP_MotorsHeli_RSC.h.

Referenced by output().

◆ _power_slewrate

uint16_t AP_MotorsHeli_RSC::_power_slewrate = 0

private

Definition at line 101 of file AP_MotorsHeli_RSC.h.

Referenced by output(), and set_throttle_curve().

◆ _ramp_time

int8_t AP_MotorsHeli_RSC::_ramp_time = 0

private

Definition at line 97 of file AP_MotorsHeli_RSC.h.

Referenced by set_ramp_time(), update_rotor_ramp(), and update_rotor_runup().

◆ _rotor_ramp_output

float AP_MotorsHeli_RSC::_rotor_ramp_output = 0.0f

private

Definition at line 95 of file AP_MotorsHeli_RSC.h.

Referenced by output(), update_rotor_ramp(), and update_rotor_runup().

◆ _rotor_runup_output

float AP_MotorsHeli_RSC::_rotor_runup_output = 0.0f

private

Definition at line 96 of file AP_MotorsHeli_RSC.h.

Referenced by get_rotor_speed(), update_rotor_ramp(), and update_rotor_runup().

◆ _runup_complete

bool AP_MotorsHeli_RSC::_runup_complete = false

private

Definition at line 99 of file AP_MotorsHeli_RSC.h.

Referenced by is_runup_complete(), and update_rotor_runup().

◆ _runup_time

int8_t AP_MotorsHeli_RSC::_runup_time = 0

private

Definition at line 98 of file AP_MotorsHeli_RSC.h.

Referenced by set_runup_time(), and update_rotor_runup().

◆ _thrcrv_poly

float AP_MotorsHeli_RSC::_thrcrv_poly[4][4]

private

Definition at line 100 of file AP_MotorsHeli_RSC.h.

Referenced by calculate_desired_throttle(), and set_throttle_curve().

The documentation for this class was generated from the following files:

libraries/AP_Motors/AP_MotorsHeli_RSC.h
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ AP_MotorsHeli_RSC()

Member Function Documentation

◆ calculate_desired_throttle()

◆ get_control_output()

◆ get_critical_speed()

◆ get_desired_speed()

◆ get_idle_output()

◆ get_rotor_speed()

◆ init_servo()

◆ is_runup_complete()

◆ output()

◆ set_collective()

◆ set_control_mode()

◆ set_critical_speed()

◆ set_desired_speed()

◆ set_idle_output()

◆ set_ramp_time()

◆ set_runup_time()

◆ set_throttle_curve()

◆ update_rotor_ramp()

◆ update_rotor_runup()

◆ write_rsc()

Friends And Related Function Documentation

◆ AP_MotorsHeli_Dual

◆ AP_MotorsHeli_Quad

◆ AP_MotorsHeli_Single

Member Data Documentation

◆ _aux_fn

◆ _collective_in

◆ _control_mode

◆ _control_output

◆ _critical_speed

◆ _default_channel

◆ _desired_speed

◆ _idle_output

◆ _last_update_us

◆ _power_slewrate

◆ _ramp_time

◆ _rotor_ramp_output

◆ _rotor_runup_output

◆ _runup_complete

◆ _runup_time

◆ _thrcrv_poly