-
Notifications
You must be signed in to change notification settings - Fork 16.6k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Takeoff Complete Bug for TradHeli #31
Labels
Comments
I'm sure this is fixed in AC3.1 |
IamPete1
pushed a commit
to IamPete1/ardupilot
that referenced
this issue
Jun 5, 2021
ride allong SITL
shellixyz
added a commit
to shellixyz/ardupilot
that referenced
this issue
Jul 5, 2022
shellixyz
added a commit
to shellixyz/ardupilot
that referenced
this issue
Jul 5, 2022
…ions (ArduPilot#37) * Add OSD input throttle element (ArduPilot#31) * Plane: add arming switch safety (ArduPilot#30) * use positive throttle range for tecs throttle respose calculations Co-authored-by: Michel Pastor <shellixyz@users.noreply.github.com>
magicrub
pushed a commit
to magicrub/ardupilot
that referenced
this issue
Oct 26, 2022
…gs_for_graham2 Shiney things for graham2
shellixyz
added a commit
to shellixyz/ardupilot
that referenced
this issue
Apr 20, 2023
shellixyz
added a commit
to shellixyz/ardupilot
that referenced
this issue
Apr 20, 2023
…ions (ArduPilot#37) * Add OSD input throttle element (ArduPilot#31) * Plane: add arming switch safety (ArduPilot#30) * use positive throttle range for tecs throttle respose calculations Co-authored-by: Michel Pastor <shellixyz@users.noreply.github.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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.
The text was updated successfully, but these errors were encountered: