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Plane: make soaring an optional build feature

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this disables soaring on px4-v2, saving 5k of flash

This is needed to consider pr #9042, which takes a lot of flash space
This commit is contained in:
Andrew Tridgell 2018-07-30 08:57:55 +10:00
parent b1d9f4cc39
commit 1d675390ab
9 changed files with 49 additions and 9 deletions
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12
ArduPlane/ArduPlane.cpp
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@ -78,7 +78,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(Log_Write_Fast, 25, 300),
SCHED_TASK(update_logging1, 25, 300),
SCHED_TASK(update_logging2, 25, 300),
#if SOARING_ENABLED == ENABLED
SCHED_TASK(update_soaring, 50, 400),
#endif
SCHED_TASK(parachute_check, 10, 200),
#if AP_TERRAIN_AVAILABLE
SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200),
@ -821,6 +823,13 @@ void Plane::update_alt()
distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
}
bool soaring_active = false;
#if SOARING_ENABLED == ENABLED
if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
soaring_active = true;
}
#endif
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm,
flight_stage,
@ -828,7 +837,8 @@ void Plane::update_alt()
get_takeoff_pitch_min_cd(),
throttle_nudge,
tecs_hgt_afe(),
aerodynamic_load_factor);
aerodynamic_load_factor,
soaring_active);
}
}

2
ArduPlane/GCS_Mavlink.cpp
View File

@ -264,9 +264,11 @@ int16_t GCS_MAVLINK_Plane::vfr_hud_throttle() const
float GCS_MAVLINK_Plane::vfr_hud_climbrate() const
{
#if SOARING_ENABLED == ENABLED
if (plane.g2.soaring_controller.is_active()) {
return plane.g2.soaring_controller.get_vario_reading();
}
#endif
return AP::baro().get_climb_rate();
}

8
ArduPlane/Parameters.cpp
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@ -1140,9 +1140,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/RC_Channel/RC_Channels.cpp
AP_SUBGROUPINFO(rc_channels, "RC", 7, ParametersG2, RC_Channels),
#if SOARING_ENABLED == ENABLED
// @Group: SOAR_
// @Path: ../libraries/AP_Soaring/AP_Soaring.cpp
AP_SUBGROUPINFO(soaring_controller, "SOAR_", 8, ParametersG2, SoaringController),
#endif
// @Param: RUDD_DT_GAIN
// @DisplayName: rudder differential thrust gain
@ -1179,8 +1181,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
};
ParametersG2::ParametersG2(void) :
ice_control(plane.rpm_sensor, plane.ahrs),
soaring_controller(plane.ahrs, plane.TECS_controller, plane.aparm)
ice_control(plane.rpm_sensor, plane.ahrs)
#if SOARING_ENABLED == ENABLED
,soaring_controller(plane.ahrs, plane.TECS_controller, plane.aparm)
#endif
{
AP_Param::setup_object_defaults(this, var_info);
}

4
ArduPlane/Parameters.h
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@ -525,9 +525,11 @@ public:
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
#if SOARING_ENABLED == ENABLED
// ArduSoar parameters
SoaringController soaring_controller;
#endif
// dual motor tailsitter rudder to differential thrust scaling: 0-100%
AP_Int8 rudd_dt_gain;

4
ArduPlane/Plane.h
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@ -221,7 +221,7 @@ private:
AP_AHRS_DCM ahrs;
#endif
AP_TECS TECS_controller{ahrs, aparm, landing, g2.soaring_controller};
AP_TECS TECS_controller{ahrs, aparm, landing};
AP_L1_Control L1_controller{ahrs, &TECS_controller};
// Attitude to servo controllers
@ -1029,7 +1029,9 @@ private:
#endif
void accel_cal_update(void);
void update_soft_armed();
#if SOARING_ENABLED == ENABLED
void update_soaring();
#endif
// support for AP_Avoidance custom flight mode, AVOID_ADSB
bool avoid_adsb_init(bool ignore_checks);

7
ArduPlane/config.h
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@ -378,3 +378,10 @@
#define OSD_ENABLED DISABLED
#endif
#ifndef SOARING_ENABLED
#if HAL_MINIMIZE_FEATURES
#define SOARING_ENABLED DISABLED
#else
#define SOARING_ENABLED ENABLED
#endif
#endif

2
ArduPlane/servos.cpp
View File

@ -386,6 +386,7 @@ void Plane::set_servos_controlled(void)
constrain_int16(quadplane.forward_throttle_pct(), min_throttle, max_throttle));
}
#if SOARING_ENABLED == ENABLED
// suppress throttle when soaring is active
if ((control_mode == FLY_BY_WIRE_B || control_mode == CRUISE ||
control_mode == AUTO || control_mode == LOITER) &&
@ -393,6 +394,7 @@ void Plane::set_servos_controlled(void)
g2.soaring_controller.get_throttle_suppressed()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
}
#endif
}
/*

3
ArduPlane/soaring.cpp
View File

@ -1,5 +1,7 @@
#include "Plane.h"
#if SOARING_ENABLED == ENABLED
/*
* ArduSoar support function
*
@ -94,3 +96,4 @@ void Plane::update_soaring() {
}
}
#endif // SOARING_ENABLED

16
ArduPlane/system.cpp
View File

@ -381,9 +381,11 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
auto_navigation_mode = false;
cruise_state.locked_heading = false;
cruise_state.lock_timer_ms = 0;
#if SOARING_ENABLED == ENABLED
// for ArduSoar soaring_controller
g2.soaring_controller.init_cruising();
#endif
set_target_altitude_current();
break;
@ -392,9 +394,11 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
throttle_allows_nudging = false;
auto_throttle_mode = true;
auto_navigation_mode = false;
#if SOARING_ENABLED == ENABLED
// for ArduSoar soaring_controller
g2.soaring_controller.init_cruising();
#endif
set_target_altitude_current();
break;
@ -419,8 +423,10 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
next_WP_loc = prev_WP_loc = current_loc;
// start or resume the mission, based on MIS_AUTORESET
mission.start_or_resume();
#if SOARING_ENABLED == ENABLED
g2.soaring_controller.init_cruising();
#endif
break;
case RTL:
@ -436,12 +442,14 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
auto_throttle_mode = true;
auto_navigation_mode = true;
do_loiter_at_location();
#if SOARING_ENABLED == ENABLED
if (g2.soaring_controller.is_active() &&
g2.soaring_controller.suppress_throttle()) {
g2.soaring_controller.init_thermalling();
g2.soaring_controller.get_target(next_WP_loc); // ahead on flight path
}
#endif
break;