Heli: Add Autorotation Flare and Touch Down Phases

ArduCopter/AP_Arming.cpp

@@ -50,6 +50,14 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
         passed = false;
     }
 
+#if FRAME_CONFIG == HELI_FRAME && MODE_AUTOROTATE_ENABLED
+    // check on autorotation config
+    if (!copter.g2.arot.arming_checks(ARRAY_SIZE(failure_msg), failure_msg)) {
+        check_failed(display_failure, "AROT: %s", failure_msg);
+        passed = false;
+    }
+#endif
+
     // If not passed all checks return false
     if (!passed) {
         return false;

ArduCopter/Copter.cpp

@@ -655,12 +655,6 @@ void Copter::twentyfive_hz_logging()
         AP::ins().Write_IMU();
     }
 
-#if MODE_AUTOROTATE_ENABLED
-    if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
-        //update autorotation log
-        g2.arot.Log_Write_Autorotation();
-    }
-#endif
 #if HAL_GYROFFT_ENABLED
     if (should_log(MASK_LOG_FTN_FAST)) {
         gyro_fft.write_log_messages();

ArduCopter/Copter.h

@@ -256,7 +256,7 @@ class Copter : public AP_Vehicle {
     AP_SurfaceDistance rangefinder_up_state {ROTATION_PITCH_90, inertial_nav, 1U};
 
     // helper function to get inertially interpolated rangefinder height.
-    bool get_rangefinder_height_interpolated_cm(int32_t& ret) const;
+    bool get_rangefinder_height_interpolated_cm(int32_t& ret);
 
 #if AP_RANGEFINDER_ENABLED
     class SurfaceTracking {

ArduCopter/Parameters.cpp

@@ -1273,7 +1273,7 @@ ParametersG2::ParametersG2(void)
     ,mode_systemid_ptr(&copter.mode_systemid)
 #endif
 #if MODE_AUTOROTATE_ENABLED
-    ,arot()
+    ,arot(copter.ahrs, copter.motors, copter.attitude_control, copter.inertial_nav)
 #endif
 #if HAL_BUTTON_ENABLED
     ,button_ptr(&copter.button)

ArduCopter/mode.h

@@ -1993,6 +1993,7 @@ class ModeAutorotate : public Mode {
 
     bool init(bool ignore_checks) override;
     void run() override;
+    void exit() override;
 
     bool is_autopilot() const override { return true; }
     bool requires_GPS() const override { return false; }
@@ -2008,13 +2009,9 @@ class ModeAutorotate : public Mode {
 
 private:
 
-    // --- Internal variables ---
-    float _initial_rpm;             // Head speed recorded at initiation of flight mode (RPM)
-    float _target_head_speed;       // The terget head main rotor head speed.  Normalised by main rotor set point
-    float _desired_v_z;             // Desired vertical
-    int32_t _pitch_target;          // Target pitch attitude to pass to attitude controller
+    float _pitch_target;            // Target pitch attitude to pass to attitude controller
     uint32_t _entry_time_start_ms;  // Time remaining until entry phase moves on to glide phase
-    float _hs_decay;                // The head accerleration during the entry phase
+    uint32_t _last_logged;          // Used for timeing slow rate autorotation log
 
     enum class Autorotation_Phase {
         ENTRY,
@@ -2023,31 +2020,13 @@ class ModeAutorotate : public Mode {
         TOUCH_DOWN,
         LANDED } phase_switch;
 
-    enum class Navigation_Decision {
-        USER_CONTROL_STABILISED,
-        STRAIGHT_AHEAD,
-        INTO_WIND,
-        NEAREST_RALLY} nav_pos_switch;
-
-    // --- Internal flags ---
-    struct controller_flags {
-            bool entry_initial             : 1;
-            bool ss_glide_initial          : 1;
-            bool flare_initial             : 1;
-            bool touch_down_initial        : 1;
-            bool landed_initial            : 1;
-            bool straight_ahead_initial    : 1;
-            bool level_initial             : 1;
-            bool break_initial             : 1;
-            bool bad_rpm                   : 1;
+    struct Controller_Flags {
+            bool entry_init            : 1;
+            bool glide_init            : 1;
+            bool flare_init            : 1;
+            bool touch_down_init       : 1;
+            bool landed_init           : 1;
     } _flags;
 
-    struct message_flags {
-            bool bad_rpm                   : 1;
-    } _msg_flags;
-
-    //--- Internal functions ---
-    void warning_message(uint8_t message_n);    //Handles output messages to the terminal
-
 };
 #endif