Do not allow users to set throttle-based notch in Heli #28843
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andyp1per
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Dec 11, 2024
MattKear
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rmackay9
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tridge
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rmackay9
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| // Throttle tracking does not make sense with heli because "throttle" is actually collective position in AP_MotorsHeli | ||
| for (auto ¬ch : harmonic_notches) { | ||
| if (notch.params.enabled() && notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateThrottle) { | ||
| AP_BoardConfig::config_error("Throttle notch unavailable with heli"); |
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Upon further though, I think it might have been better if this had been made an arming check. With a config_error the main loop won't run and the user will find the HUD doesn't update. Sadly this will only happen the next time that they reboot the board so they may not remember that they changed the harmonic notch method
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My attempt at fixing issue: #28841
Throttle is not "Throttle" in AP_MotorsHeli, it is actually collective position. Therefore, throttle-based tracking does not make any sense for Heli.
This is a subtly that most users will not appreciate, therefore we should help users to not make this mistake by throwing a config error if selected.
Have also changed the default notch mode for heli.
Tested in SITL only. This is how it presents to the user upon miss-configuration: