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ArduPlane: add CROW flaps mode select switch

This commit is contained in:
Henry Wurzburg 2020-07-15 14:22:50 -05:00 committed by Peter Barker
parent 966e9ddf2b
commit 16a15f5450
4 changed files with 42 additions and 3 deletions
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8
ArduPlane/Plane.h
View File

@ -1110,6 +1110,14 @@ private:
void failsafe_ekf_event();
void failsafe_ekf_off_event(void);
enum class CrowMode {
NORMAL,
PROGRESSIVE,
CROW_DISABLED,
};
CrowMode crow_mode = CrowMode::NORMAL;
public:
void failsafe_check(void);
bool set_target_location(const Location& target_loc) override;

25
ArduPlane/RC_Channel.cpp
View File

@ -78,6 +78,24 @@ void RC_Channel_Plane::do_aux_function_q_assist_state(AuxSwitchPos ch_flag)
}
}
void RC_Channel_Plane::do_aux_function_crow_mode(AuxSwitchPos ch_flag)
{
switch(ch_flag) {
case AuxSwitchPos::HIGH:
plane.crow_mode = Plane::CrowMode::CROW_DISABLED;
gcs().send_text(MAV_SEVERITY_INFO, "Crow Flaps Disabled");
break;
case AuxSwitchPos::MIDDLE:
gcs().send_text(MAV_SEVERITY_INFO, "Progressive Crow Flaps");
plane.crow_mode = Plane::CrowMode::PROGRESSIVE;
break;
case AuxSwitchPos::LOW:
plane.crow_mode = Plane::CrowMode::NORMAL;
gcs().send_text(MAV_SEVERITY_INFO, "Normal Crow Flaps");
break;
}
}
void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
const RC_Channel::AuxSwitchPos ch_flag)
{
@ -114,6 +132,10 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
do_aux_function(ch_option, ch_flag);
break;
case AUX_FUNC::CROW_SELECT:
do_aux_function(ch_option, ch_flag);
break;
default:
// handle in parent class
RC_Channel::init_aux_function(ch_option, ch_flag);
@ -192,6 +214,9 @@ void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwit
gcs().send_text(MAV_SEVERITY_INFO, "NON AUTO TERRN: %s", plane.non_auto_terrain_disable?"OFF":"ON");
break;
case AUX_FUNC::CROW_SELECT:
do_aux_function_crow_mode(ch_flag);
break;
default:
RC_Channel::do_aux_function(ch_option, ch_flag);

2
ArduPlane/RC_Channel.h
View File

@ -19,6 +19,8 @@ private:
AuxSwitchPos ch_flag);
void do_aux_function_q_assist_state(AuxSwitchPos ch_flag);
void do_aux_function_crow_mode(AuxSwitchPos ch_flag);
};
class RC_Channels_Plane : public RC_Channels

10
ArduPlane/servos.cpp
View File

@ -202,7 +202,8 @@ void Plane::dspoiler_update(void)
const int8_t bitmask = g2.crow_flap_options.get();
const bool flying_wing = (bitmask & CrowFlapOptions::FLYINGWING) != 0;
const bool full_span_aileron = (bitmask & CrowFlapOptions::FULLSPAN) != 0;
const bool progresive_crow = (bitmask & CrowFlapOptions::PROGRESSIVE_CROW) != 0;
//progressive crow when option is set or RC switch is set to progressive
const bool progressive_crow = (bitmask & CrowFlapOptions::PROGRESSIVE_CROW) != 0 || crow_mode == CrowMode::PROGRESSIVE;
// if flying wing use elevons else use ailerons
float elevon_left;
@ -253,7 +254,10 @@ void Plane::dspoiler_update(void)
}
}
const int16_t weight_outer = g2.crow_flap_weight_outer.get();
int16_t weight_outer = g2.crow_flap_weight_outer.get();
if (crow_mode == Plane::CrowMode::CROW_DISABLED) { //override totally aileron crow if crow RC switch set to disabled
weight_outer = 0;
}
const int16_t weight_inner = g2.crow_flap_weight_inner.get();
if (weight_outer > 0 || weight_inner > 0) {
/*
@ -266,7 +270,7 @@ void Plane::dspoiler_update(void)
if (flap_percent > 0) {
float inner_flap_scaled = (float)flap_percent;
float outer_flap_scaled = (float)flap_percent;
if (progresive_crow) {
if (progressive_crow) {
// apply 0 - full inner from 0 to 50% flap then add in outer above 50%
inner_flap_scaled = constrain_float(inner_flap_scaled * 2, 0,100);
outer_flap_scaled = constrain_float(outer_flap_scaled - 50, 0,50) * 2;