AP_Motors: Support for Assisted Autorotation

retrieve collective hover setting get governor rpm setpoint
bnsgeyer · Dec 23, 2023 · 45e9b61 · 45e9b61
1 parent 36aaa23
commit 45e9b61
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diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -84,6 +84,9 @@ class AP_MotorsHeli : public AP_Motors {
     // get_rsc_setpoint - gets contents of _rsc_setpoint parameter (0~1)
     float get_rsc_setpoint() const { return _main_rotor._rsc_setpoint.get() * 0.01f; }
 
+    //return governor rpm setpoint
+    float get_rpm_setpoint() const {return _main_rotor.get_governor_setpoint();}
+
     // arot_man_enabled - gets contents of manual_autorotation_enabled parameter
     bool arot_man_enabled() const { return (_main_rotor._rsc_arot_man_enable.get() == 1) ? true : false; }
 
@@ -145,6 +148,13 @@ class AP_MotorsHeli : public AP_Motors {
 	//return zero lift collective position
     float get_coll_mid() const { return _collective_zero_thrust_pct; }
 
+    //return collective hover
+    float get_coll_hover() const { return _collective_hover; }
+
+    float get_coll_max_pitch() const { return _collective_max_deg;}
+
+    float get_coll_min_pitch() const { return _collective_min_deg;}
+
     // enum for heli optional features
     enum class HeliOption {
         USE_LEAKY_I                     = (1<<0),   // 1
@@ -275,6 +285,7 @@ class AP_MotorsHeli : public AP_Motors {
     // internal variables
     float           _collective_zero_thrust_pct;      // collective zero thrutst parameter value converted to 0 ~ 1 range
     float           _collective_land_min_pct;      // collective land min parameter value converted to 0 ~ 1 range
+    float           _collective_hover_rad;
     uint8_t         _servo_test_cycle_counter = 0;   // number of test cycles left to run after bootup
 
     motor_frame_type _frame_type;

diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
@@ -87,6 +87,7 @@ class AP_MotorsHeli_RSC {
     // functions for autothrottle, throttle curve, governor, idle speed, output to servo
     void        set_governor_output(float governor_output) {_governor_output = governor_output; }
     float       get_governor_output() const { return _governor_output; }
+    float       get_governor_setpoint() const { return _governor_rpm; }
     void        governor_reset();
     float       get_control_output() const { return _control_output; }
     void        set_idle_output(float idle_output) { _idle_output.set(idle_output); }