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APM: added parameter FBWB_ELEV_REV 

this fixes issue 343
This commit is contained in:
Andrew Tridgell 2012-08-17 15:04:53 +10:00
parent 1ccff12b54
commit 2fb8a13ac6
3 changed files with 19 additions and 6 deletions
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16
ArduPlane/ArduPlane.pde
View File

@ -1137,15 +1137,19 @@ static void update_current_flight_mode(void)
// Thanks to Yury MonZon for the altitude limit code!
nav_roll_cd = g.channel_roll.norm_input() * g.roll_limit_cd;
altitude_error_cm = g.channel_pitch.norm_input() * g.pitch_limit_min_cd;
float elevator_input;
elevator_input = g.channel_pitch.norm_input();
if (g.flybywire_elev_reverse) {
elevator_input = -elevator_input;
}
if ((current_loc.alt >= home.alt+g.FBWB_min_altitude_cm) || (g.FBWB_min_altitude_cm == 0)) {
altitude_error_cm = g.channel_pitch.norm_input() * g.pitch_limit_min_cd;
altitude_error_cm = elevator_input * g.pitch_limit_min_cd;
} else {
if (g.channel_pitch.norm_input()<0) {
altitude_error_cm =( (home.alt + g.FBWB_min_altitude_cm) - current_loc.alt) + g.channel_pitch.norm_input() * g.pitch_limit_min_cd;
} else {
altitude_error_cm =( (home.alt + g.FBWB_min_altitude_cm) - current_loc.alt);
altitude_error_cm = (home.alt + g.FBWB_min_altitude_cm) - current_loc.alt;
if (elevator_input < 0) {
altitude_error_cm += elevator_input * g.pitch_limit_min_cd;
}
}
calc_throttle();

2
ArduPlane/Parameters.h
View File

@ -87,6 +87,7 @@ public:
k_param_flybywire_airspeed_min = 120,
k_param_flybywire_airspeed_max,
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
k_param_flybywire_elev_reverse,
//
// 130: Sensor parameters
@ -253,6 +254,7 @@ public:
//
AP_Int16 flybywire_airspeed_min;
AP_Int16 flybywire_airspeed_max;
AP_Int8 flybywire_elev_reverse;
// Throttle
//

7
ArduPlane/Parameters.pde
View File

@ -199,6 +199,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX", AIRSPEED_FBW_MAX),
// @Param: FBWB_ELEV_REV
// @DisplayName: Fly By Wire elevator reverse
// @Description: Reverse sense of elevator in FBWB. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(flybywire_elev_reverse, "FBWB_ELEV_REV", 0),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
// @Description: The minimum throttle setting to which the autopilot will apply.