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ArduPlane: add option for man throttle center to be TRIM_THROTTLE

This commit is contained in:
Hwurzburg 2021-08-30 13:57:10 -05:00 committed by Andrew Tridgell
parent 95fbf39f72
commit 327f3a0803
6 changed files with 29 additions and 2 deletions
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8
ArduPlane/AP_Arming.cpp
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@ -122,6 +122,14 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
ret = false;
}
if (plane.g2.flight_options & FlightOptions::CENTER_THROTTLE_TRIM){
int16_t trim = plane.channel_throttle->get_radio_trim();
if (trim < 1250 || trim > 1750) {
check_failed(display_failure, "Throttle trim not near center stick(%u)",trim );
ret = false;
}
}
return ret;
}

2
ArduPlane/Parameters.cpp
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@ -1099,7 +1099,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: FLIGHT_OPTIONS
// @DisplayName: Flight mode options
// @Description: Flight mode specific options
// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor., 7:EnableDefaultAirspeed for takeoff, 8: Remove the TRIM_PITCH_CD on the GCS horizon, 9: Remove the TRIM_PITCH_CD on the OSD horizon
// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor., 7:EnableDefaultAirspeed for takeoff, 8: Remove the TRIM_PITCH_CD on the GCS horizon, 9: Remove the TRIM_PITCH_CD on the OSD horizon, 10: Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL
// @User: Advanced
AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),

1
ArduPlane/Plane.h
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@ -1093,6 +1093,7 @@ private:
bool allow_reverse_thrust(void) const;
bool have_reverse_thrust(void) const;
int16_t get_throttle_input(bool no_deadzone=false) const;
int16_t get_adjusted_throttle_input(bool no_deadzone=false) const;
enum Failsafe_Action {
Failsafe_Action_None = 0,

1
ArduPlane/defines.h
View File

@ -163,6 +163,7 @@ enum FlightOptions {
ENABLE_DEFAULT_AIRSPEED = (1<<7),
GCS_REMOVE_TRIM_PITCH_CD = (1 << 8),
OSD_REMOVE_TRIM_PITCH_CD = (1 << 9),
CENTER_THROTTLE_TRIM = (1<<10),
};
enum CrowFlapOptions {

16
ArduPlane/reverse_thrust.cpp
View File

@ -137,3 +137,19 @@ int16_t Plane::get_throttle_input(bool no_deadzone) const
}
return ret;
}
/*
return control in from the radio throttle channel with curve giving mid-stick equal to TRIM_THROTTLE.
*/
int16_t Plane::get_adjusted_throttle_input(bool no_deadzone) const
{
if ((plane.channel_throttle->get_type() != RC_Channel::RC_CHANNEL_TYPE_RANGE) || (g2.flight_options & FlightOptions::CENTER_THROTTLE_TRIM) == 0) {
return get_throttle_input(no_deadzone);
}
int16_t ret = channel_throttle->get_range() * throttle_curve(aparm.throttle_cruise * 0.01, 0, 0.5 + 0.5*channel_throttle->norm_input());
if (reversed_throttle) {
// RC option for reverse throttle has been set
return -ret;
}
return ret;
}

3
ArduPlane/servos.cpp
View File

@ -541,8 +541,9 @@ void Plane::set_servos_controlled(void)
// STABILIZE mode with THR_PASS_STAB set
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
} else {
// get throttle, but adjust center to output TRIM_THROTTLE if flight option set
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
constrain_int16(get_throttle_input(true), min_throttle, max_throttle));
constrain_int16(get_adjusted_throttle_input(true), min_throttle, max_throttle));
}
} else if (control_mode->is_guided_mode() &&
guided_throttle_passthru) {