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AP_Landing: Support scaling aileron controls

This commit is contained in:
Michael du Breuil 2017-10-03 16:58:31 -07:00 committed by Tom Pittenger
parent d214a36e0a
commit 0007e5eb80
2 changed files with 9 additions and 6 deletions
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14
libraries/AP_Landing/AP_Landing_Deepstall.cpp
View File

@ -136,6 +136,13 @@ const AP_Param::GroupInfo AP_Landing_Deepstall::var_info[] = {
// @User: Advanced
AP_GROUPINFO("ABORTALT", 15, AP_Landing_Deepstall, min_abort_alt, 0.0f),
// @Param: AIL_SCL
// @DisplayName: Aileron landing gain scalaing
// @Description: A scalar to reduce or increase the aileron control
// @Range: 0 2.0
// @User: Advanced
AP_GROUPINFO("AIL_SCL", 16, AP_Landing_Deepstall, aileron_scalar, 1.0f),
AP_GROUPEND
};
@ -329,15 +336,10 @@ bool AP_Landing_Deepstall::override_servos(void)
0.5f, 1.0f);
float output = constrain_float(pid, -travel_limit, travel_limit);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, output*4500);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input, output*4500);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, output*4500*aileron_scalar);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, output*4500);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); // this will normally be managed as part of landing,
// but termination needs to set throttle control here
} else {
// allow the normal servo control of the channel
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input,
SRV_Channels::get_output_scaled(SRV_Channel::k_aileron));
}
// hand off rudder control to deepstall controlled

1
libraries/AP_Landing/AP_Landing_Deepstall.h
View File

@ -68,6 +68,7 @@ private:
AP_Float yaw_rate_limit;
AP_Float time_constant;
AP_Float min_abort_alt;
AP_Float aileron_scalar;
int32_t loiter_sum_cd; // used for tracking the progress on loitering
deepstall_stage stage;
Location landing_point;