AP_Motors: add governor engage to rotor runup complete check

Ferruccio1984 · bnsgeyer · commit aabbe500aa4b · 2025-08-26T13:16:48.000-04:00
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -457,7 +457,7 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
     }
 
     // if rotor ramp and runup are both at full speed, then run-up has been completed
-    if (!_runup_complete && (_rotor_ramp_output >= 1.0f) && (_rotor_runup_output >= 1.0f)) {
+    if (!_runup_complete && (_rotor_ramp_output >= 1.0f) && (_rotor_runup_output >= 1.0f) && (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE ? _governor_engage : true)) {
         _runup_complete = true;
     }
     // if rotor speed is less than critical speed, then run-up is not complete

Original file line number	Diff line number	Diff line change
`@@ -457,7 +457,7 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)`
`457`	`457`	`}`
`458`	`458`
`459`	`459`	`// if rotor ramp and runup are both at full speed, then run-up has been completed`
`460`		`- if (!_runup_complete && (_rotor_ramp_output >= 1.0f) && (_rotor_runup_output >= 1.0f)) {`
	`460`	`+ if (!_runup_complete && (_rotor_ramp_output >= 1.0f) && (_rotor_runup_output >= 1.0f) && (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE ? _governor_engage : true)) {`
`461`	`461`	`_runup_complete = true;`
`462`	`462`	`}`
`463`	`463`	`// if rotor speed is less than critical speed, then run-up is not complete`