AP_Motors: fixed heli RSC output range and float conversion

adds H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV

libraries/AP_Motors/AP_MotorsHeli_RSC.cpp

@@ -29,7 +29,7 @@ void AP_MotorsHeli_RSC::init_servo()
 }
 
 // set_power_output_range
-void AP_MotorsHeli_RSC::set_power_output_range(uint16_t power_low, uint16_t power_high)
+void AP_MotorsHeli_RSC::set_power_output_range(float power_low, float power_high)
 {
     _power_output_low = power_low;
     _power_output_high = power_high;
@@ -162,6 +162,13 @@ void AP_MotorsHeli_RSC::write_rsc(float servo_out)
         // ToDo: We should probably use RC_Channel_Aux to avoid this problem
         return;
     } else {
-        RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_heli_rsc, servo_out * 1000.0f);
+        // calculate PWM value based on H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
+        uint16_t pwm = servo_out * (_pwm_max - _pwm_min);
+        if (_pwm_rev >= 0) {
+            pwm = _pwm_min + pwm;
+        } else {
+            pwm = _pwm_max - pwm;
+        }
+        RC_Channel_aux::set_radio(_aux_fn, pwm);
     }
 }

libraries/AP_Motors/AP_MotorsHeli_RSC.h

@@ -23,6 +23,8 @@ enum RotorControlMode {
 
 class AP_MotorsHeli_RSC {
 public:
+    friend class AP_MotorsHeli_Single;
+    
     AP_MotorsHeli_RSC(RC_Channel_aux::Aux_servo_function_t aux_fn,
                       uint8_t default_channel,
                       uint16_t loop_rate) :
@@ -69,7 +71,7 @@ public:
     void        set_runup_time(int8_t runup_time) { _runup_time = runup_time; }
 
     // set_power_output_range
-    void        set_power_output_range(uint16_t power_low, uint16_t power_high);
+    void        set_power_output_range(float power_low, float power_high);
 
     // set_motor_load
     void        set_motor_load(float load) { _load_feedforward = load; }
@@ -102,6 +104,10 @@ private:
     float           _power_output_range = 0.0f; // maximum range of output power
     float           _load_feedforward = 0.0f;   // estimate of motor load, range 0-1.0f
 
+    AP_Int16        _pwm_min;
+    AP_Int16        _pwm_max;
+    AP_Int8         _pwm_rev;
+    
     // update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output
     void            update_rotor_ramp(float rotor_ramp_input);
 

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -132,6 +132,27 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
     // @Path: ../RC_Channel/RC_Channel.cpp
     AP_SUBGROUPINFO(_yaw_servo, "SV4_", 15, AP_MotorsHeli_Single, RC_Channel),
 
+    // @Param: RSC_PWM_MIN
+    // @DisplayName: RSC PWM output miniumum
+    // @Description: This sets the PWM output on RSC channel for maximum rotor speed
+    // @Range: 0 2000
+    // @User: Standard
+    AP_GROUPINFO("RSC_PWM_MIN", 16, AP_MotorsHeli_Single, _main_rotor._pwm_min, 1000),
+
+    // @Param: RSC_PWM_MAX
+    // @DisplayName: RSC PWM output maxiumum
+    // @Description: This sets the PWM output on RSC channel for miniumum rotor speed
+    // @Range: 0 2000
+    // @User: Standard
+    AP_GROUPINFO("RSC_PWM_MAX", 17, AP_MotorsHeli_Single, _main_rotor._pwm_max, 2000),
+
+    // @Param: RSC_PWM_REV
+    // @DisplayName: RSC PWM reversal
+    // @Description: This controls reversal of the RSC channel output
+    // @Values: -1:Reversed,1:Normal
+    // @User: Standard
+    AP_GROUPINFO("RSC_PWM_REV", 18, AP_MotorsHeli_Single, _main_rotor._pwm_rev, 1),
+    
     // parameters up to and including 29 are reserved for tradheli
 
     AP_GROUPEND