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Takeoff Complete Bug for TradHeli #31

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R-Lefebvre opened this issue Jan 17, 2013 · 1 comment
Closed

Takeoff Complete Bug for TradHeli #31

R-Lefebvre opened this issue Jan 17, 2013 · 1 comment
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@R-Lefebvre
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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
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I'm sure this is fixed in AC3.1

IamPete1 pushed a commit to IamPete1/ardupilot that referenced this issue Jun 5, 2021
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>
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