Takeoff Complete Bug for TradHeli

[R-Lefebvre]

Currently, the code does not adequately determine if a Heli has plausibly taken off. It is entirely possible for a heli to be armed, and the throttle to be high, without having left the ground if the rotors are not turning yet.

Current Code:

if (!ap.takeoff_complete && motors.armed()) {
if (g.rc_3.control_in > g.throttle_cruise) {
// we must be in the air by now
set_takeoff_complete(true);
}
}

Needs to be something like:

if (!ap.takeoff_complete && motors.armed()) {
if (g.rc_3.control_in > g.throttle_cruise) {
// we must be in the air by now
set_takeoff_complete(true);
}

if FRAME_CONFIG == HELI_FRAME

if (h.rsc_mode > 0 && Ch8.control_in <11){
set_takeoff_complete(false);
}

endif

        }

This will check if we are using the rotor speed controller, and if it is running. This does not protect for cases where the rotor is running, but slowly. Or if the user is not using the rotor speed controller at all, but it's all we can do for now.

I think I will tackle this by adding a new bool to the AP_MotorsHeli class, which is "Rotor Run-up Complete" which we will confirm than the Motors have been running for a suitable period of time.

Further, I'd like to add some code to the auto-take-off code which will not even attempt to leave the ground until run-up is complete.

[rmackay9]

I'm sure this is fixed in AC3.1