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Plane: added FLAP_SLEWRATE parameter

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makes for smoother transition of flaps
This commit is contained in:
Andrew Tridgell 2014-08-29 20:30:41 +10:00
parent f66039c9b4
commit 5af4cefff3
3 changed files with 37 additions and 1 deletions
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27
ArduPlane/Attitude.pde
View File

@ -513,6 +513,26 @@ static void throttle_slew_limit(int16_t last_throttle)
}
}
/*****************************************
Flap slew limit
*****************************************/
static void flap_slew_limit(int8_t &last_value, int8_t &new_value)
{
uint8_t slewrate = g.flap_slewrate;
// if slew limit rate is set to zero then do not slew limit
if (slewrate) {
// limit flap change by the given percentage per second
float temp = slewrate * G_Dt;
// allow a minimum change of 1% per cycle. This means the
// slowest flaps we can do is full change over 2 seconds
if (temp < 1) {
temp = 1;
}
new_value = constrain_int16(new_value, last_value - temp, last_value + temp);
}
last_value = new_value;
}
/**
@ -819,8 +839,10 @@ static void set_servos(void)
}
// Auto flap deployment
uint8_t auto_flap_percent = 0;
int8_t auto_flap_percent = 0;
int8_t manual_flap_percent = 0;
static int8_t last_auto_flap;
static int8_t last_manual_flap;
// work out any manual flap input
RC_Channel *flapin = RC_Channel::rc_channel(g.flapin_channel-1);
@ -869,6 +891,9 @@ static void set_servos(void)
auto_flap_percent = manual_flap_percent;
}
flap_slew_limit(last_auto_flap, auto_flap_percent);
flap_slew_limit(last_manual_flap, manual_flap_percent);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, auto_flap_percent);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap, manual_flap_percent);

2
ArduPlane/Parameters.h
View File

@ -126,6 +126,7 @@ public:
k_param_rangefinder_landing,
k_param_land_flap_percent,
k_param_takeoff_flap_percent,
k_param_flap_slewrate,
// 100: Arming parameters
k_param_arming = 100,
@ -464,6 +465,7 @@ public:
AP_Int16 glide_slope_threshold;
AP_Int8 fbwa_tdrag_chan;
AP_Int8 rangefinder_landing;
AP_Int8 flap_slewrate;
// RC channels
RC_Channel rc_1;

9
ArduPlane/Parameters.pde
View File

@ -459,6 +459,15 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
ASCALAR(throttle_slewrate, "THR_SLEWRATE", 100),
// @Param: FLAP_SLEWRATE
// @DisplayName: Flap slew rate
// @Description: maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Advanced
GSCALAR(flap_slewrate, "FLAP_SLEWRATE", 75),
// @Param: THR_SUPP_MAN
// @DisplayName: Throttle suppress manual passthru
// @Description: When throttle is supressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff