mirror of https://github.com/ArduPilot/ardupilot
Plane: added FLIGHT_OPTIONS bit for disabling pitch up check in takeoff
some takeoff procedures use high pitch angles
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@ -1173,7 +1173,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
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// @Param: FLIGHT_OPTIONS
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// @Param: FLIGHT_OPTIONS
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// @DisplayName: Flight mode options
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// @DisplayName: Flight mode options
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// @Description: Flight mode specific options
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// @Description: Flight mode specific options
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// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual Stabilize Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed
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// @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
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
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AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
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@ -201,4 +201,5 @@ enum {
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enum FlightOptions {
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enum FlightOptions {
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DIRECT_RUDDER_ONLY = (1 << 0),
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DIRECT_RUDDER_ONLY = (1 << 0),
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CRUISE_TRIM_THROTTLE = (1 << 1),
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CRUISE_TRIM_THROTTLE = (1 << 1),
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DISABLE_TOFF_ATTITUDE_CHK = (1 << 2),
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};
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};
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@ -75,10 +75,10 @@ bool Plane::auto_takeoff_check(void)
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goto no_launch;
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goto no_launch;
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}
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}
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if (!quadplane.is_tailsitter()) {
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if (!quadplane.is_tailsitter() &&
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!(g2.flight_options & FlightOptions::DISABLE_TOFF_ATTITUDE_CHK)) {
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// Check aircraft attitude for bad launch
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// Check aircraft attitude for bad launch
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if (ahrs.pitch_sensor <= -3000 ||
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if (ahrs.pitch_sensor <= -3000 || ahrs.pitch_sensor >= 4500 ||
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ahrs.pitch_sensor >= 4500 ||
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(!fly_inverted() && labs(ahrs.roll_sensor) > 3000)) {
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(!fly_inverted() && labs(ahrs.roll_sensor) > 3000)) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Bad launch AUTO");
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gcs().send_text(MAV_SEVERITY_WARNING, "Bad launch AUTO");
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takeoff_state.accel_event_counter = 0;
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takeoff_state.accel_event_counter = 0;
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