AP_Motors: move turbine start to update_turbine_start and style cleanup

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -232,6 +232,8 @@ void AP_MotorsHeli::output()
         output_disarmed();
     }
 
+    update_turbine_start();
+
     output_to_motors();
 
 };
@@ -597,3 +599,13 @@ bool AP_MotorsHeli::heli_option(HeliOption opt) const
     return (_heli_options & (uint8_t)opt);
 }
 
+// updates the turbine start flag
+void AP_MotorsHeli::update_turbine_start()
+{
+    if (_heliflags.start_engine) {
+        _main_rotor.set_turbine_start(true);
+    } else {
+        _main_rotor.set_turbine_start(false);
+    }
+}
+

libraries/AP_Motors/AP_MotorsHeli.h

@@ -67,8 +67,8 @@ public:
     // parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
     virtual bool parameter_check(bool display_msg) const;
 	
-	//set turbine start flag on to initiaize starting sequence 
-	void set_turb_start(bool turb_start) { _heliflags.start_engine = turb_start; }
+    //set turbine start flag on to initiaize starting sequence
+    void set_turb_start(bool turb_start) { _heliflags.start_engine = turb_start; }
 
     // has_flybar - returns true if we have a mechical flybar
     virtual bool has_flybar() const { return AP_MOTORS_HELI_NOFLYBAR; }
@@ -225,6 +225,9 @@ protected:
 
     const char* _get_frame_string() const override { return "HELI"; }
 
+    // update turbine start flag
+    void update_turbine_start();
+
     // enum values for HOVER_LEARN parameter
     enum HoverLearn {
         HOVER_LEARN_DISABLED = 0,
@@ -246,7 +249,7 @@ protected:
         uint8_t takeoff_collective      : 1;    // true if collective is above 30% between H_COL_MID and H_COL_MAX
         uint8_t below_land_min_coll     : 1;    // true if collective is below H_COL_LAND_MIN
         uint8_t rotor_spooldown_complete : 1;    // true if the rotors have spooled down completely
-        uint8_t start_engine            : 1;
+        uint8_t start_engine            : 1;    // true if turbine start RC option is initiated
     } _heliflags;
 
     // parameters

libraries/AP_Motors/AP_MotorsHeli_RSC.cpp

@@ -15,10 +15,7 @@
 
 #include <stdlib.h>
 #include <AP_HAL/AP_HAL.h>
-<<<<<<< HEAD
-=======
 #include <GCS_MAVLink/GCS.h>
->>>>>>> 5faab0ee08... AP_Motors: tradheli support for turbine start
 #include "AP_MotorsHeli_RSC.h"
 #include <AP_RPM/AP_RPM.h>
 
@@ -272,8 +269,8 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
             governor_reset();
             _autothrottle = false;
             _governor_fault = false;
-			//turbine start flag on
-			_starting = true;
+            //turbine start flag on
+            _starting = true;
             break;
 
         case ROTOR_CONTROL_IDLE:
@@ -289,25 +286,24 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
                 _control_output = constrain_float( _rsc_arot_bailout_pct/100.0f , 0.0f, 0.4f);
             } else {
                 // set rotor control speed to idle speed parameter, this happens instantly and ignores ramping
-                if (_turbine_start && _starting == true ) {			
-			_control_output += 0.001f;
-			
-			         if(_control_output >= 1.0f) {
-						_control_output = get_idle_output();
-						gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
-				       _starting = false;
-				      }
-             } else{
-                if (_cooldown_time > 0) {
-                    _control_output = get_idle_output() * 1.5f;
-                    _fast_idle_timer += dt;
-                    if (_fast_idle_timer > (float)_cooldown_time) {
-                        _fast_idle_timer = 0.0f;
+                if (_turbine_start && _starting == true ) {
+                    _control_output += 0.001f;
+                    if (_control_output >= 1.0f) {
+                        _control_output = get_idle_output();
+                        gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
+                        _starting = false;
+                    }
+                } else{
+                    if (_cooldown_time > 0) {
+                        _control_output = get_idle_output() * 1.5f;
+                        _fast_idle_timer += dt;
+                        if (_fast_idle_timer > (float)_cooldown_time) {
+                            _fast_idle_timer = 0.0f;
+                        }
+                    } else {
+                        _control_output = get_idle_output();
                     }
-                } else {
-                    _control_output = get_idle_output();
                 }
-			 } 	 
             }
             break;
 
@@ -315,6 +311,9 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
             // set main rotor ramp to increase to full speed
             update_rotor_ramp(1.0f, dt);
 
+            // if turbine engine started without using start sequence, set starting flag just to be sure it can't be triggered when back in idle
+            _starting = false;
+
             if ((_control_mode == ROTOR_CONTROL_MODE_PASSTHROUGH) || (_control_mode == ROTOR_CONTROL_MODE_SETPOINT)) {
                 // set control rotor speed to ramp slewed value between idle and desired speed
                 _control_output = get_idle_output() + (_rotor_ramp_output * (_desired_speed - get_idle_output()));

libraries/AP_Motors/AP_MotorsHeli_RSC.h

@@ -113,8 +113,8 @@ public:
     // set the throttle percentage to be sent to external governor to signal that autorotation bailout ramp should be used within this instance of Heli_RSC
     void        set_ext_gov_arot_bail(int16_t pct) { _rsc_arot_bailout_pct = pct; }
 	
-	// turbine start initialize sequence
-	void        set_turbine_start(bool turbine_start) {_turbine_start = (bool)turbine_start; }
+    // turbine start initialize sequence
+    void        set_turbine_start(bool turbine_start) {_turbine_start = turbine_start; }
 
     // output - update value to send to ESC/Servo
     void        output(RotorControlState state);
@@ -148,8 +148,8 @@ private:
     float           _thrcrv_poly[4][4];           // spline polynomials for throttle curve interpolation
     float           _collective_in;               // collective in for throttle curve calculation, range 0-1.0f
     float           _rotor_rpm;                   // rotor rpm from speed sensor for governor
-	bool           _turbine_start;
-	bool           _starting;
+    bool            _turbine_start;               // initiates starting sequence
+    bool            _starting;                    // tracks if starting sequence has been used
     float           _governor_output;             // governor output for rotor speed control
     bool            _governor_engage;             // RSC governor status flag
     bool            _autothrottle;                // autothrottle status flag

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -291,12 +291,6 @@ void AP_MotorsHeli_Single::calculate_armed_scalars()
     // set bailout ramp time
     _main_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
     _tail_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
-	
-	if (_heliflags.start_engine) {
-        _main_rotor.set_turbine_start(true);
-    } else {
-        _main_rotor.set_turbine_start(false);
-    }
 
     // allow use of external governor autorotation bailout
     if (_main_rotor._ext_gov_arot_pct.get() > 0) {