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Plane: Q_OPTION to disable synthetic airspeed assist

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Iampete1 2020-10-04 23:22:50 +01:00 committed by Andrew Tridgell
parent af8d6c5fc9
commit 0201692eeb
2 changed files with 6 additions and 3 deletions
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8
ArduPlane/quadplane.cpp
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@ -329,7 +329,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: OPTIONS
// @DisplayName: quadplane options
// @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming.
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed
AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),
@ -1479,8 +1479,10 @@ bool QuadPlane::assistance_needed(float aspeed, bool have_airspeed)
return false;
}
if (have_airspeed && aspeed < assist_speed) {
// assistance due to Q_ASSIST_SPEED
// assistance due to Q_ASSIST_SPEED
// if option bit is enabled only allow assist with real airspeed sensor
if ((have_airspeed && aspeed < assist_speed) &&
(((options & OPTION_DISABLE_SYNTHETIC_AIRSPEED_ASSIST) == 0) || ahrs.airspeed_sensor_enabled())) {
in_angle_assist = false;
angle_error_start_ms = 0;
return true;

1
ArduPlane/quadplane.h
View File

@ -568,6 +568,7 @@ private:
OPTION_AIRMODE=(1<<9),
OPTION_DISARMED_TILT=(1<<10),
OPTION_DELAY_ARMING=(1<<11),
OPTION_DISABLE_SYNTHETIC_AIRSPEED_ASSIST=(1<<12),
};
AP_Float takeoff_failure_scalar;