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.h

@@ -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

@@ -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);
 }
 
@@ -257,11 +257,11 @@ void AP_MotorsHeli_Single::calculate_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_ramp_time(_rsc_ramp_time);
-        _tail_rotor.set_runup_time(AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_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 {

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
+// direct-drive variable pitch defaults
-#define AP_MOTORS_HELI_SINGLE_DDVPT_SPEED_DEFAULT              500
+#define AP_MOTORS_HELI_SINGLE_DDVP_SPEED_DEFAULT               500
-#define AP_MOTORS_HELI_SINGLE_DDVPT_RAMP_TIME                  2
-#define AP_MOTORS_HELI_SINGLE_DDVPT_RUNUP_TIME                 3
 
 // default external gyro gain
 #define AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN                    350