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Plane: tailsitter: remove pilot prop-hanging teaching params and code.

This commit is contained in:
Iampete1 2021-08-24 00:22:34 +01:00 committed by Andrew Tridgell
parent 4bdb428cfe
commit 70ab9ba3b6
3 changed files with 2 additions and 38 deletions
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2
ArduPlane/quadplane.cpp
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@ -551,8 +551,6 @@ const AP_Param::ConversionInfo q_conversion_table[] = {
{ Parameters::k_param_quadplane, 48, AP_PARAM_INT8, "Q_TAILSIT_ANGLE" },
{ Parameters::k_param_quadplane, 61, AP_PARAM_INT8, "Q_TAILSIT_ANG_VT" },
{ Parameters::k_param_quadplane, 50, AP_PARAM_INT8, "Q_TAILSIT_INPUT" },
{ Parameters::k_param_quadplane, 51, AP_PARAM_INT8, "Q_TAILSIT_MASK" },
{ Parameters::k_param_quadplane, 52, AP_PARAM_INT8, "Q_TAILSIT_MASKCH" },
{ Parameters::k_param_quadplane, 53, AP_PARAM_FLOAT, "Q_TAILSIT_VFGAIN" },
{ Parameters::k_param_quadplane, 54, AP_PARAM_FLOAT, "Q_TAILSIT_VHGAIN" },
{ Parameters::k_param_quadplane, 56, AP_PARAM_FLOAT, "Q_TAILSIT_VHPOW" },

29
ArduPlane/tailsitter.cpp
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@ -50,17 +50,8 @@ const AP_Param::GroupInfo Tailsitter::var_info[] = {
// @Bitmask: 0:PlaneMode,1:BodyFrameRoll
AP_GROUPINFO("INPUT", 4, Tailsitter, input_type, 0),
// @Param: MASK
// @DisplayName: Tailsitter input mask
// @Description: This controls what channels have full manual control when hovering as a tailsitter and the Q_TAILSIT_MASKCH channel in high. This can be used to teach yourself to prop-hang a 3D plane by learning one or more channels at a time.
// @Bitmask: 0:Aileron,1:Elevator,2:Throttle,3:Rudder
AP_GROUPINFO("MASK", 5, Tailsitter, input_mask, 0),
// @Param: MASKCH
// @DisplayName: Tailsitter input mask channel
// @Description: This controls what input channel will activate the Q_TAILSIT_MASK mask. When this channel goes above 1700 then the pilot will have direct manual control of the output channels specified in Q_TAILSIT_MASK. Set to zero to disable.
// @Values: 0:Disabled,1:Channel1,2:Channel2,3:Channel3,4:Channel4,5:Channel5,6:Channel6,7:Channel7,8:Channel8
AP_GROUPINFO("MASKCH", 6, Tailsitter, input_mask_chan, 0),
// 5 was MASK
// 6 was MASKCH
// @Param: VFGAIN
// @DisplayName: Tailsitter vector thrust gain in forward flight
@ -332,22 +323,6 @@ void Tailsitter::output(void)
motors->limit.yaw = true;
}
if (input_mask_chan > 0 && input_mask > 0 &&
RC_Channels::get_radio_in(input_mask_chan-1) > RC_Channel::AUX_PWM_TRIGGER_HIGH) {
// the user is learning to prop-hang
if (input_mask & TAILSITTER_MASK_AILERON) {
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz());
}
if (input_mask & TAILSITTER_MASK_ELEVATOR) {
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz());
}
if (input_mask & TAILSITTER_MASK_THROTTLE) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.get_throttle_input(true));
}
if (input_mask & TAILSITTER_MASK_RUDDER) {
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, plane.channel_rudder->get_control_in_zero_dz());
}
}
}

9
ArduPlane/tailsitter.h
View File

@ -73,13 +73,6 @@ public:
TAILSITTER_INPUT_BF_ROLL = (1U<<1)
};
enum mask {
TAILSITTER_MASK_AILERON = (1U<<0),
TAILSITTER_MASK_ELEVATOR = (1U<<1),
TAILSITTER_MASK_THROTTLE = (1U<<2),
TAILSITTER_MASK_RUDDER = (1U<<3),
};
enum gscl_mask {
TAILSITTER_GSCL_THROTTLE = (1U<<0),
TAILSITTER_GSCL_ATT_THR = (1U<<1),
@ -93,8 +86,6 @@ public:
AP_Int8 transition_angle_vtol;
AP_Float transition_rate_vtol;
AP_Int8 input_type;
AP_Int8 input_mask;
AP_Int8 input_mask_chan;
AP_Float vectored_forward_gain;
AP_Float vectored_hover_gain;
AP_Float vectored_hover_power;