AP_Motors:TradHeli - DDVP Ramp/Runup

Change to ramp and runup DDVP tail rotor to prevent torque pitching the frame and provide runup in sync with main
rotor like a mechanically driven tail.

Fix some comments and remove indents found in whitespace in AP_MotorsHeli.cpp and AP_MotorsHeli.h

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -129,7 +129,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
     // @Increment: 10
     // @User: Standard
     AP_GROUPINFO("RSC_POWER_LOW", 14, AP_MotorsHeli, _rsc_power_low, AP_MOTORS_HELI_RSC_POWER_LOW_DEFAULT),
-    
+
     // @Param: RSC_POWER_HIGH
     // @DisplayName: Throttle Servo High Power Position
     // @Description: Throttle output at maximum collective pitch. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by H_RSC_PWM_MIN and H_RSC_PWM_MAX.
@@ -170,7 +170,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
     // @Increment: 10
     // @User: Standard
     AP_GROUPINFO("RSC_SLEWRATE", 19, AP_MotorsHeli, _rsc_slewrate, 0),
-    
+
     AP_GROUPEND
 };
 
@@ -183,7 +183,7 @@ void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_t
 {
     // remember frame type
     _frame_type = frame_type;
-    
+
     // set update rate
     set_update_rate(_speed_hz);
 

libraries/AP_Motors/AP_MotorsHeli.h

@@ -91,7 +91,7 @@ public:
 
     // set_inverted_flight - enables/disables inverted flight
     void set_inverted_flight(bool inverted) { _heliflags.inverted_flight = inverted; }
-    
+
     // get_rsc_mode - gets the rotor speed control method (AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH or AP_MOTORS_HELI_RSC_MODE_SETPOINT)
     uint8_t get_rsc_mode() const { return _rsc_mode; }
 
@@ -121,7 +121,7 @@ public:
 
     // ext_gyro_gain - set external gyro gain in range 0 ~ 1
     virtual void ext_gyro_gain(float gain) {}
-    
+
     // output - sends commands to the motors
     void output();
 
@@ -196,7 +196,7 @@ protected:
     AP_Int8         _servo_mode;              // Pass radio inputs directly to servos during set-up through mission planner
     AP_Int16        _rsc_setpoint;              // rotor speed when RSC mode is set to is enabledv
     AP_Int8         _rsc_mode;                  // Which main rotor ESC control mode is active
-    AP_Int8         _rsc_ramp_time;             // Time in seconds for the output to the main rotor's ESC to reach full speed
+    AP_Int8         _rsc_ramp_time;             // Time in seconds for the output to the main rotor's ESC to reach setpoint
     AP_Int8         _rsc_runup_time;            // Time in seconds for the main rotor to reach full speed.  Must be longer than _rsc_ramp_time
     AP_Int16        _land_collective_min;       // Minimum collective when landed or landing
     AP_Int16        _rsc_critical;              // Rotor speed below which flight is not possible

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -23,7 +23,7 @@ extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
     AP_NESTEDGROUPINFO(AP_MotorsHeli, 0),
-    
+
     // @Param: SV1_POS
     // @DisplayName: Servo 1 Position
     // @Description: Angular location of swash servo #1
@@ -50,7 +50,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
     // @User: Standard
     // @Increment: 1
     AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli_Single, _servo3_pos, AP_MOTORS_HELI_SINGLE_SERVO3_POS),
-  
+
     // @Param: TAIL_TYPE
     // @DisplayName: Tail Type
     // @Description: Tail type selection.  Simpler yaw controller used if external gyro is selected
@@ -97,7 +97,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
     // @Values: 0:NoFlybar,1:Flybar
     // @User: Standard
     AP_GROUPINFO("FLYBAR_MODE", 9, AP_MotorsHeli_Single, _flybar_mode, AP_MOTORS_HELI_NOFLYBAR),
-  
+
     // @Param: TAIL_SPEED
     // @DisplayName: Direct Drive VarPitch Tail ESC speed
     // @Description: Direct Drive VarPitch Tail ESC speed in PWM microseconds.  Only used when TailType is DirectDrive VarPitch
@@ -105,7 +105,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
     // @Units: PWM
     // @Increment: 1
     // @User: Standard
-    AP_GROUPINFO("TAIL_SPEED", 10, AP_MotorsHeli_Single, _direct_drive_tailspeed, AP_MOTORS_HELI_SINGLE_DDVPT_SPEED_DEFAULT),
+    AP_GROUPINFO("TAIL_SPEED", 10, AP_MotorsHeli_Single, _direct_drive_tailspeed, AP_MOTORS_HELI_SINGLE_DDVP_SPEED_DEFAULT),
 
     // @Param: GYR_GAIN_ACRO
     // @DisplayName: External Gyro Gain for ACRO
@@ -222,7 +222,7 @@ void AP_MotorsHeli_Single::set_desired_rotor_speed(float desired_speed)
 {
     _main_rotor.set_desired_speed(desired_speed);
 
-    // always send desired speed to tail rotor control, will do nothing if not DDVPT not enabled
+    // always send desired speed to tail rotor control, will do nothing if not DDVP not enabled
     _tail_rotor.set_desired_speed(_direct_drive_tailspeed/1000.0f);
 }
 
@@ -256,12 +256,12 @@ void AP_MotorsHeli_Single::calculate_scalars()
     // send setpoints to main rotor controller and trigger recalculation of scalars
     _main_rotor.set_control_mode(static_cast<RotorControlMode>(_rsc_mode.get()));
     calculate_armed_scalars();
-    
-    // send setpoints to tail rotor controller and trigger recalculation of scalars
+
+    // send setpoints to DDVP rotor controller and trigger recalculation of scalars
     if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
         _tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_SPEED_SETPOINT);
-        _tail_rotor.set_ramp_time(AP_MOTORS_HELI_SINGLE_DDVPT_RAMP_TIME);
-        _tail_rotor.set_runup_time(AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_TIME);
+        _tail_rotor.set_ramp_time(_rsc_ramp_time);
+        _tail_rotor.set_runup_time(_rsc_runup_time);
         _tail_rotor.set_critical_speed(_rsc_critical/1000.0f);
         _tail_rotor.set_idle_output(_rsc_idle_output/1000.0f);
     } else {
@@ -360,7 +360,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     if (_heliflags.inverted_flight) {
         coll_in = 1 - coll_in;
     }
-        
+ 
     // rescale roll_out and pitch_out into the min and max ranges to provide linear motion
     // across the input range instead of stopping when the input hits the constrain value
     // these calculations are based on an assumption of the user specified cyclic_max
@@ -432,7 +432,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     servo1_out = 2*servo1_out - 1;
     servo2_out = 2*servo2_out - 1;
     servo3_out = 2*servo3_out - 1;
-    
+
     // actually move the servos
     rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(servo1_out, _swash_servo_1));
     rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(servo2_out, _swash_servo_2));

libraries/AP_Motors/AP_MotorsHeli_Single.h

@@ -27,10 +27,8 @@
 #define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH    2
 #define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH  3
 
-// default direct-drive variable pitch tail defaults
-#define AP_MOTORS_HELI_SINGLE_DDVPT_SPEED_DEFAULT              500
-#define AP_MOTORS_HELI_SINGLE_DDVPT_RAMP_TIME                  2
-#define AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_TIME                 3
+// direct-drive variable pitch defaults
+#define AP_MOTORS_HELI_SINGLE_DDVP_SPEED_DEFAULT               500
 
 // default external gyro gain
 #define AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN                    350
@@ -79,7 +77,7 @@ public:
 
     // calculate_armed_scalars - recalculates scalars that can change while armed
     void calculate_armed_scalars() override;
-    
+
     // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     uint16_t get_motor_mask() override;
@@ -97,7 +95,7 @@ public:
 
     // parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
     bool parameter_check(bool display_msg) const override;
-    
+
     // var_info
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -154,7 +152,7 @@ protected:
     SRV_Channel    *_swash_servo_3;
     SRV_Channel    *_yaw_servo;
     SRV_Channel    *_servo_aux;
-    
+
     bool            _acro_tail = false;
     float           _rollFactor[AP_MOTORS_HELI_SINGLE_NUM_SWASHPLATE_SERVOS];
     float           _pitchFactor[AP_MOTORS_HELI_SINGLE_NUM_SWASHPLATE_SERVOS];