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Quadplane: add trim params

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IamPete1 2018-09-25 16:13:34 +01:00 committed by Andrew Tridgell
parent 4c3651c2be
commit 5a7bd61e8c
2 changed files with 16 additions and 4 deletions
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15
ArduPlane/quadplane.cpp
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@ -358,7 +358,16 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Range: 1 5 // @Range: 1 5
// @User: Standard // @User: Standard
AP_GROUPINFO("TAILSIT_THSCMX", 3, QuadPlane, tailsitter.throttle_scale_max, 5), AP_GROUPINFO("TAILSIT_THSCMX", 3, QuadPlane, tailsitter.throttle_scale_max, 5),
// @Param: TRIM_PIT
// @DisplayName: Quadplane AHRS trim pitch
// @Description: Compensates for the pitch angle trim difference between forward and vertical flight pitch, NOTE! this is relative to forward flight trim not mounting locaiton
// @Units: deg
// @Range: -180 +180
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("TRIM_PIT", 4, QuadPlane, quadplane_ahrs_trim_pitch, 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -548,11 +557,11 @@ bool QuadPlane::setup(void)
AP_Param::load_object_from_eeprom(motors, motors_var_info); AP_Param::load_object_from_eeprom(motors, motors_var_info);
// create the attitude view used by the VTOL code // create the attitude view used by the VTOL code
ahrs_view = ahrs.create_view(rotation); ahrs_view = ahrs.create_view_trim(rotation, (float)quadplane_ahrs_trim_pitch);
if (ahrs_view == nullptr) { if (ahrs_view == nullptr) {
goto failed; goto failed;
} }
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, loop_delta_t); attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, loop_delta_t);
if (!attitude_control) { if (!attitude_control) {
hal.console->printf("%s attitude_control\n", strUnableToAllocate); hal.console->printf("%s attitude_control\n", strUnableToAllocate);

5
ArduPlane/quadplane.h
View File

@ -230,7 +230,10 @@ private:
// transition deceleration, m/s/s // transition deceleration, m/s/s
AP_Float transition_decel; AP_Float transition_decel;
// Quadplane trim, degrees
AP_Float quadplane_ahrs_trim_pitch;
AP_Int16 rc_speed; AP_Int16 rc_speed;
// min and max PWM for throttle // min and max PWM for throttle