MotorsHeli: integrate RotorControlState

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -93,7 +93,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
     // @Description: Determines the method of rotor speed control
     // @Values: 1:Ch8 Input, 2:SetPoint, 3:Throttle Curve
     // @User: Standard
-    AP_GROUPINFO("RSC_MODE", 8, AP_MotorsHeli, _rsc_mode, AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH),
+    AP_GROUPINFO("RSC_MODE", 8, AP_MotorsHeli, _rsc_mode, (int8_t)ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH),
 
     // @Param: LAND_COL_MIN
     // @DisplayName: Landing Collective Minimum
@@ -280,7 +280,7 @@ bool AP_MotorsHeli::parameter_check() const
     }
 
     // returns false if RSC Mode is not set to a valid control mode
-    if (_rsc_mode <= AP_MOTORS_HELI_RSC_MODE_DISABLED || _rsc_mode > AP_MOTORS_HELI_RSC_MODE_THROTTLE_CURVE) {
+    if (_rsc_mode <= (int8_t)ROTOR_CONTROL_MODE_DISABLED || _rsc_mode > (int8_t)ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT) {
         return false;
     }
 

libraries/AP_Motors/AP_MotorsHeli.h

@@ -36,12 +36,6 @@
 // swash min while landed or landing (as a number from 0 ~ 1000
 #define AP_MOTORS_HELI_LAND_COLLECTIVE_MIN      0
 
-// main rotor speed control types (ch8 out)
-#define AP_MOTORS_HELI_RSC_MODE_DISABLED        0       // not a valid RSC Mode
-#define AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH 1       // main rotor ESC is connected to RC8 (out), pilot desired rotor speed provided by CH8 input
-#define AP_MOTORS_HELI_RSC_MODE_SETPOINT        2       // main rotor ESC is connected to RC8 (out), desired speed is held in RSC_SETPOINT parameter
-#define AP_MOTORS_HELI_RSC_MODE_THROTTLE_CURVE  3       // main rotor speed is controlled open-loop by a throttle servo or ESC connected to RC8(out)
-
 // default main rotor speed (ch8 out) as a number from 0 ~ 1000
 #define AP_MOTORS_HELI_RSC_SETPOINT             700
 
@@ -178,7 +172,7 @@ protected:
     void        output_disarmed();
 
     // update_motor_controls - sends commands to motor controllers
-    virtual void update_motor_control(uint8_t state) = 0;
+    virtual void update_motor_control(RotorControlState state) = 0;
 
     // reset_flight_controls - resets all controls and scalars to flight status
     void reset_flight_controls();

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -241,7 +241,7 @@ void AP_MotorsHeli_Single::calculate_scalars()
     calculate_roll_pitch_collective_factors();
 
     // send setpoints to main rotor controller and trigger recalculation of scalars
-    _main_rotor.set_control_mode(_rsc_mode);    
+    _main_rotor.set_control_mode(static_cast<RotorControlMode>(_rsc_mode.get()));
     _main_rotor.set_ramp_time(_rsc_ramp_time);
     _main_rotor.set_runup_time(_rsc_runup_time);
     _main_rotor.set_critical_speed(_rsc_critical);
@@ -251,13 +251,13 @@ void AP_MotorsHeli_Single::calculate_scalars()
 
     // send setpoints to tail rotor controller and trigger recalculation of scalars
     if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
-        _tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_SETPOINT);
+        _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_critical_speed(_rsc_critical);
         _tail_rotor.set_idle_output(_rsc_idle_output);
     } else {
-        _tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_DISABLED);
+        _tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_DISABLED);
         _tail_rotor.set_ramp_time(0);
         _tail_rotor.set_runup_time(0);
         _tail_rotor.set_critical_speed(0);
@@ -314,7 +314,7 @@ uint16_t AP_MotorsHeli_Single::get_motor_mask()
 }
 
 // update_motor_controls - sends commands to motor controllers
-void AP_MotorsHeli_Single::update_motor_control(uint8_t state)
+void AP_MotorsHeli_Single::update_motor_control(RotorControlState state)
 {
     // Send state update to motors
     _tail_rotor.output(state);
@@ -470,4 +470,4 @@ void AP_MotorsHeli_Single::write_aux(int16_t servo_out)
     _servo_aux.servo_out = servo_out;
     _servo_aux.calc_pwm();
     hal.rcout->write(AP_MOTORS_HELI_SINGLE_AUX, _servo_aux.radio_out);
-}
+}

libraries/AP_Motors/AP_MotorsHeli_Single.h

@@ -131,7 +131,7 @@ protected:
     void init_outputs();
 
     // update_motor_controls - sends commands to motor controllers
-    void update_motor_control(uint8_t state);
+    void update_motor_control(RotorControlState state);
 
     // calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
     void calculate_roll_pitch_collective_factors();