Merge pull request #4 from iq-motion-control/revert_heli_to_have_rpm

AP_MotorsPulsing_Heli revert to include rpm
ArduPilot · Nov 16, 2023 · f5c01f9 · f5c01f9
2 parents 2cd4eae + e4ce23b
commit f5c01f9
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diff --git a/libraries/AP_Motors/AP_MotorsPulsing_Heli.cpp b/libraries/AP_Motors/AP_MotorsPulsing_Heli.cpp
@@ -57,6 +57,7 @@ void AP_MotorsPulsing_Heli::init(motor_frame_class frame_class, motor_frame_type
     motor_enabled[AP_MOTORS_MOT_4] = true;
 
     _mav_type = MAV_TYPE_QUADROTOR;
+    rpm = AP_RPM::get_singleton();
 
     // record successful initialisation if what we setup was the desired frame_class
     set_initialised_ok(frame_class == MOTOR_FRAME_PULSING_HELI);
@@ -148,6 +149,7 @@ void AP_MotorsPulsing_Heli::output_armed_stabilizing()
     // gyro ff and yaw ff. Also need rotor height above COM
     Vector3f gyro_latest = _ahrs_view->get_gyro_latest();
     float velocity_0 = 0;
+    rpm->get_rpm(0, velocity_0);
 
     float rotor_yaw_ff = _rotor_yaw_ff * velocity_0 * velocity_0;
     Vector3f blade_omega(gyro_latest.x, gyro_latest.y, gyro_latest.z-velocity_0);

diff --git a/libraries/AP_Motors/AP_MotorsPulsing_Heli.h b/libraries/AP_Motors/AP_MotorsPulsing_Heli.h
@@ -56,6 +56,7 @@ class AP_MotorsPulsing_Heli : public AP_MotorsMulticopter {
     float           _roll_action;
 
     AP_AHRS_View    *_ahrs_view;
+    AP_RPM          *rpm;
 
     AP_Int8         _yaw_dir;
     AP_Float        _rotor_yaw_ff;