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Plane: added Q_THR_MID parameter

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This commit is contained in:
Andrew Tridgell 2016-01-06 15:19:57 +11:00
parent 4da798129e
commit 787a6994a4
2 changed files with 11 additions and 1 deletions
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11
ArduPlane/quadplane.cpp
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@ -313,6 +313,15 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Increment: 0.1 // @Increment: 0.1
// @User: Standard // @User: Standard
AP_GROUPINFO("LAND_FINAL_ALT", 27, QuadPlane, land_final_alt, 6), AP_GROUPINFO("LAND_FINAL_ALT", 27, QuadPlane, land_final_alt, 6),
// @Param: THR_MID
// @DisplayName: Throttle Mid Position
// @Description: The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover
// @User: Standard
// @Range: 300 700
// @Units: Percent*10
// @Increment: 1
AP_GROUPINFO("THR_MID", 28, QuadPlane, throttle_mid, 500),
AP_GROUPEND AP_GROUPEND
}; };
@ -369,7 +378,7 @@ void QuadPlane::setup(void)
motors->Init(); motors->Init();
motors->set_frame_orientation(AP_MOTORS_X_FRAME); motors->set_frame_orientation(AP_MOTORS_X_FRAME);
motors->set_throttle_range(0, thr_min_pwm, thr_max_pwm); motors->set_throttle_range(0, thr_min_pwm, thr_max_pwm);
motors->set_hover_throttle(500); motors->set_hover_throttle(throttle_mid);
motors->set_update_rate(rc_speed); motors->set_update_rate(rc_speed);
motors->set_interlock(true); motors->set_interlock(true);
attitude_control->set_dt(plane.ins.get_loop_delta_t()); attitude_control->set_dt(plane.ins.get_loop_delta_t());

1
ArduPlane/quadplane.h
View File

@ -127,6 +127,7 @@ private:
// min and max PWM for throttle // min and max PWM for throttle
AP_Int16 thr_min_pwm; AP_Int16 thr_min_pwm;
AP_Int16 thr_max_pwm; AP_Int16 thr_max_pwm;
AP_Int16 throttle_mid;
// speed below which quad assistance is given // speed below which quad assistance is given
AP_Float assist_speed; AP_Float assist_speed;