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AP_Landing: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX

This commit is contained in:
Andrew Tridgell 2024-01-18 16:37:41 +11:00
parent f935cbaead
commit 180a738e19
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_Landing/AP_Landing.cpp
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@ -141,7 +141,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
// @Param: OPTIONS // @Param: OPTIONS
// @DisplayName: Landing options bitmask // @DisplayName: Landing options bitmask
// @Description: Bitmask of options to use with landing. // @Description: Bitmask of options to use with landing.
// @Bitmask: 0: honor min throttle during landing flare,1: Increase Target landing airspeed constraint From Trim Airspeed to ARSPD_FBW_MAX // @Bitmask: 0: honor min throttle during landing flare,1: Increase Target landing airspeed constraint From Trim Airspeed to AIRSPEED_MAX
// @User: Advanced // @User: Advanced
AP_GROUPINFO("OPTIONS", 16, AP_Landing, _options, 0), AP_GROUPINFO("OPTIONS", 16, AP_Landing, _options, 0),
@ -156,7 +156,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
// @Param: WIND_COMP // @Param: WIND_COMP
// @DisplayName: Headwind Compensation when Landing // @DisplayName: Headwind Compensation when Landing
// @Description: This param controls how much headwind compensation is used when landing. Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD command. Set to Zero to disable. Note: The target landing airspeed command is still limited to ARSPD_FBW_MAX. // @Description: This param controls how much headwind compensation is used when landing. Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD command. Set to Zero to disable. Note: The target landing airspeed command is still limited to AIRSPEED_MAX.
// @Range: 0 100 // @Range: 0 100
// @Units: % // @Units: %
// @Increment: 1 // @Increment: 1

2
libraries/AP_Landing/AP_Landing.h
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@ -61,7 +61,7 @@ public:
// we support upto 32 boolean bits for users wanting to change landing behaviour. // we support upto 32 boolean bits for users wanting to change landing behaviour.
enum OptionsMask { enum OptionsMask {
ON_LANDING_FLARE_USE_THR_MIN = (1<<0), // If set then set trottle to thr_min instead of zero on final flare ON_LANDING_FLARE_USE_THR_MIN = (1<<0), // If set then set trottle to thr_min instead of zero on final flare
ON_LANDING_USE_ARSPD_MAX = (1<<1), // If set then allow landing throttle constraint to be increased from trim airspeed to max airspeed (ARSPD_FBW_MAX) ON_LANDING_USE_ARSPD_MAX = (1<<1), // If set then allow landing throttle constraint to be increased from trim airspeed to max airspeed (AIRSPEED_MAX)
}; };
void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude); void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);