From 055d8fe7aaf1d11f88491dcb9b92957394c44450 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 24 May 2014 22:19:50 +1000
Subject: [PATCH] Plane: added TKOFF_THR_MAX parameter

---
 ArduPlane/ArduPlane.pde  |  2 +-
 ArduPlane/Parameters.h   |  2 ++
 ArduPlane/Parameters.pde | 11 ++++++++++-
 ArduPlane/takeoff.pde    | 11 +++++++++++
 4 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 06142f2fcd..5235de1d12 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -1118,7 +1118,7 @@ static void handle_auto_mode(void)
         takeoff_calc_pitch();
         
         // max throttle for takeoff
-        channel_throttle->servo_out = aparm.throttle_max;
+        channel_throttle->servo_out = takeoff_throttle();
         break;
 
     case MAV_CMD_NAV_LAND:
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 6f1284acca..0ac23a2126 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -114,6 +114,7 @@ public:
         k_param_takeoff_tdrag_speed1,
         k_param_takeoff_rotate_speed,
         k_param_takeoff_throttle_slewrate,
+        k_param_takeoff_throttle_max,
 
         // 100: Arming parameters
         k_param_arming = 100,
@@ -437,6 +438,7 @@ public:
     AP_Float takeoff_tdrag_speed1;
     AP_Float takeoff_rotate_speed;
     AP_Int8 takeoff_throttle_slewrate;
+    AP_Int8 takeoff_throttle_max;
     AP_Int8 level_roll_limit;
     AP_Int8 flapin_channel;
     AP_Int8 flaperon_output;
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index 79aab181a6..0aa29d27fa 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -375,13 +375,22 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Param: THR_MAX
     // @DisplayName: Maximum Throttle
-    // @Description: The maximum throttle setting to which the autopilot will apply.
+    // @Description: The maximum throttle setting as a percentage which the autopilot will apply.
     // @Units: Percent
     // @Range: 0 100
     // @Increment: 1
     // @User: Standard
     ASCALAR(throttle_max,           "THR_MAX",        THROTTLE_MAX),
 
+    // @Param: TKOFF_THR_MAX
+    // @DisplayName: Maximum Throttle for takeoff
+    // @Description: The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.
+    // @Units: Percent
+    // @Range: 0 100
+    // @Increment: 1
+    // @User: Advanced
+    GSCALAR(takeoff_throttle_max,   "TKOFF_THR_MAX",        0),
+
     // @Param: THR_SLEWRATE
     // @DisplayName: Throttle slew rate
     // @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second.
diff --git a/ArduPlane/takeoff.pde b/ArduPlane/takeoff.pde
index 300eb58194..d588659ed6 100644
--- a/ArduPlane/takeoff.pde
+++ b/ArduPlane/takeoff.pde
@@ -155,3 +155,14 @@ static int8_t takeoff_tail_hold(void)
     // we are holding the tail down
     return g.takeoff_tdrag_elevator;
 }
+
+/*
+  return throttle percentage for takeoff
+ */
+static uint8_t takeoff_throttle(void)
+{
+    if (g.takeoff_throttle_max != 0) {
+        return g.takeoff_throttle_max;
+    }
+    return aparm.throttle_max;
+}