Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: added TKOFF_THR_MAX_T

Browse Source 
time for max throttle on takeoff if no airspeed sensor
This commit is contained in:
Andrew Tridgell 2023-01-10 14:54:32 +11:00
parent abb3cdd6b8
commit 77e63da4b3
2 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduPlane/Parameters.cpp
View File

@ -131,6 +131,15 @@ const AP_Param::Info Plane::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(takeoff_throttle_delay, "TKOFF_THR_DELAY", 2), GSCALAR(takeoff_throttle_delay, "TKOFF_THR_DELAY", 2),
// @Param: TKOFF_THR_MAX_T
// @DisplayName: Takeoff throttle maximum time
// @Description: This sets the time that maximum throttle will be forced during a fixed wing takeoff without an airspeed sensor. If an airspeed sensor is being used then the throttle is set to maximum until the takeoff airspeed is reached.
// @Units: s
// @Range: 0 10
// @Increment: 0.5
// @User: Standard
ASCALAR(takeoff_throttle_max_t, "TKOFF_THR_MAX_T", 4),
// @Param: TKOFF_TDRAG_ELEV // @Param: TKOFF_TDRAG_ELEV
// @DisplayName: Takeoff tail dragger elevator // @DisplayName: Takeoff tail dragger elevator
// @Description: This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time. // @Description: This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.

1
ArduPlane/Parameters.h
View File

@ -355,6 +355,7 @@ public:
k_param_gcs6, // stream rates k_param_gcs6, // stream rates
k_param_fence, // vehicle fence - unused k_param_fence, // vehicle fence - unused
k_param_acro_yaw_rate, k_param_acro_yaw_rate,
k_param_takeoff_throttle_max_t,
}; };
AP_Int16 format_version; AP_Int16 format_version;