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Plane: Quadplane: add get_throttle_input method that behaves the same as Plane::get_throttle_input did

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This commit is contained in:
Iampete1 2023-11-28 18:11:21 +00:00 committed by Andrew Tridgell
parent 483ef18087
commit 41f61da0d9
2 changed files with 22 additions and 5 deletions
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24
ArduPlane/quadplane.cpp
View File

@ -1219,7 +1219,7 @@ bool QuadPlane::is_flying_vtol(void) const
} }
if (plane.control_mode->is_vtol_man_mode()) { if (plane.control_mode->is_vtol_man_mode()) {
// in manual flight modes only consider aircraft landed when pilot demanded throttle is zero // in manual flight modes only consider aircraft landed when pilot demanded throttle is zero
return is_positive(plane.get_throttle_input()); return is_positive(get_throttle_input());
} }
if (in_vtol_mode() && millis() - landing_detect.lower_limit_start_ms > 5000) { if (in_vtol_mode() && millis() - landing_detect.lower_limit_start_ms > 5000) {
// use landing detector // use landing detector
@ -1289,7 +1289,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
const auto rudder_in = plane.channel_rudder->get_control_in(); const auto rudder_in = plane.channel_rudder->get_control_in();
bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && air_mode_active(); bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && air_mode_active();
if (!manual_air_mode && if (!manual_air_mode &&
!is_positive(plane.get_throttle_input()) && !is_positive(get_throttle_input()) &&
(!plane.control_mode->does_auto_throttle() || motors->limit.throttle_lower) && (!plane.control_mode->does_auto_throttle() || motors->limit.throttle_lower) &&
plane.arming.get_rudder_arming_type() == AP_Arming::RudderArming::ARMDISARM && plane.arming.get_rudder_arming_type() == AP_Arming::RudderArming::ARMDISARM &&
rudder_in < 0 && rudder_in < 0 &&
@ -1366,7 +1366,7 @@ float QuadPlane::get_pilot_desired_climb_rate_cms(void) const
*/ */
void QuadPlane::init_throttle_wait(void) void QuadPlane::init_throttle_wait(void)
{ {
if (plane.get_throttle_input() >= 10 || if (get_throttle_input() >= 10 ||
plane.is_flying()) { plane.is_flying()) {
throttle_wait = false; throttle_wait = false;
} else { } else {
@ -1920,7 +1920,7 @@ void QuadPlane::update_throttle_suppression(void)
consider non-zero throttle to mean that pilot is commanding consider non-zero throttle to mean that pilot is commanding
takeoff unless in a manual thottle mode takeoff unless in a manual thottle mode
*/ */
if (!is_zero(plane.get_throttle_input()) && if (!is_zero(get_throttle_input()) &&
(rc().arming_check_throttle() || (rc().arming_check_throttle() ||
plane.control_mode->is_vtol_man_throttle() || plane.control_mode->is_vtol_man_throttle() ||
plane.channel_throttle->norm_input_dz() > 0)) { plane.channel_throttle->norm_input_dz() > 0)) {
@ -4061,7 +4061,7 @@ void QuadPlane::update_throttle_mix(void)
if (plane.control_mode->is_vtol_man_throttle()) { if (plane.control_mode->is_vtol_man_throttle()) {
// manual throttle // manual throttle
if (!is_positive(plane.get_throttle_input()) && !air_mode_active()) { if (!is_positive(get_throttle_input()) && !air_mode_active()) {
attitude_control->set_throttle_mix_min(); attitude_control->set_throttle_mix_min();
} else { } else {
attitude_control->set_throttle_mix_man(); attitude_control->set_throttle_mix_man();
@ -4729,4 +4729,18 @@ bool QuadPlane::should_disable_TECS() const
return false; return false;
} }
// Get pilot throttle input with deadzone, this will return 50% throttle in failsafe!
// This is a re-implmentation of Plane::get_throttle_input
// Ignoring the no_deadzone case means we don't need to check for valid RC
// This is handled by Plane::control_failsafe setting of control in
float QuadPlane::get_throttle_input() const
{
float ret = plane.channel_throttle->get_control_in();
if (plane.reversed_throttle) {
// RC option for reverse throttle has been set
ret = -ret;
}
return ret;
}
#endif // HAL_QUADPLANE_ENABLED #endif // HAL_QUADPLANE_ENABLED

3
ArduPlane/quadplane.h
View File

@ -190,6 +190,9 @@ public:
*/ */
bool should_disable_TECS() const; bool should_disable_TECS() const;
// Get pilot throttle input with deadzone, this will return 50% throttle in failsafe!
float get_throttle_input() const;
private: private:
AP_AHRS &ahrs; AP_AHRS &ahrs;