AP_MotorsHeli: Semantic change. Motor Runup to Rotor Runup

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -355,14 +355,14 @@ void AP_MotorsHeli::set_desired_rotor_speed(int16_t desired_speed)
 }
 
 // return true if the main rotor is up to speed
-bool AP_MotorsHeli::motor_runup_complete() const
+bool AP_MotorsHeli::rotor_runup_complete() const
 {
     // if we have no control of motors, assume pilot has spun them up
     if (_rsc_mode == AP_MOTORS_HELI_RSC_MODE_NONE) {
         return true;
     }
 
-    return _heliflags.motor_runup_complete;
+    return _heliflags.rotor_runup_complete;
 }
 
 // recalc_scalers - recalculates various scalers used.  Should be called at about 1hz to allow users to see effect of changing parameters
@@ -759,11 +759,11 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
     }
 
     // set runup complete flag
-    if (!_heliflags.motor_runup_complete && rotor_target > 0 && _rotor_speed_estimate >= rotor_target) {
-        _heliflags.motor_runup_complete = true;
+    if (!_heliflags.rotor_runup_complete && rotor_target > 0 && _rotor_speed_estimate >= rotor_target) {
+        _heliflags.rotor_runup_complete = true;
     }
-    if (_heliflags.motor_runup_complete && rotor_target == 0 && _rotor_speed_estimate <= 0) {
-        _heliflags.motor_runup_complete = false;
+    if (_heliflags.rotor_runup_complete && rotor_target == 0 && _rotor_speed_estimate <= 0) {
+        _heliflags.rotor_runup_complete = false;
     }
 
     // output to rsc servo

libraries/AP_Motors/AP_MotorsHeli.h

@@ -75,9 +75,6 @@
 #define AP_MOTORS_HELI_RSC_RUNUP_TIME           10      // 10 seconds for rotor to reach full speed
 #define AP_MOTORS_HELI_TAIL_RAMP_INCREMENT      5       // 5 is 2 seconds for direct drive tail rotor to reach to full speed (5 = (2sec*100hz)/1000)
 
-// motor run-up time default in 100th of seconds
-#define AP_MOTORS_HELI_MOTOR_RUNUP_TIME         500     // 500 = 5 seconds
-
 // flybar types
 #define AP_MOTORS_HELI_NOFLYBAR                 0
 #define AP_MOTORS_HELI_FLYBAR                   1
@@ -123,7 +120,7 @@ public:
         // initialise flags
         _heliflags.swash_initialised = 0;
         _heliflags.landing_collective = 0;
-        _heliflags.motor_runup_complete = 0;
+        _heliflags.rotor_runup_complete = 0;
     };
 
     // init
@@ -180,7 +177,7 @@ public:
     void set_desired_rotor_speed(int16_t desired_speed);
 
     // return true if the main rotor is up to speed
-    bool motor_runup_complete() const;
+    bool rotor_runup_complete() const;
 
     // recalc_scalers - recalculates various scalers used.  Should be called at about 1hz to allow users to see effect of changing parameters
     void recalc_scalers();
@@ -264,7 +261,7 @@ private:
     struct heliflags_type {
         uint8_t swash_initialised       : 1;    // true if swash has been initialised
         uint8_t landing_collective      : 1;    // true if collective is setup for landing which has much higher minimum
-        uint8_t motor_runup_complete    : 1;    // true if the rotors have had enough time to wind up
+        uint8_t rotor_runup_complete    : 1;    // true if the rotors have had enough time to wind up
     } _heliflags;
 
     // parameters