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Plane: add TKOFF_GND_PITCH

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Tom Pittenger 2021-02-19 17:00:38 -08:00 committed by Peter Barker
parent b5e17bfc5d
commit 7a6f398668
4 changed files with 14 additions and 6 deletions
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2
ArduPlane/Parameters.cpp
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@ -160,7 +160,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: TKOFF_ROTATE_SPD // @Param: TKOFF_ROTATE_SPD
// @DisplayName: Takeoff rotate speed // @DisplayName: Takeoff rotate speed
// @Description: This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent // @Description: This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent. During the run, use TKOFF_GND_PITCH to keep the aircraft on the runway while below this airspeed.
// @Units: m/s // @Units: m/s
// @Range: 0 30 // @Range: 0 30
// @Increment: 0.1 // @Increment: 0.1

2
ArduPlane/mode.h
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@ -737,6 +737,8 @@ public:
// var_info for holding parameter information // var_info for holding parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
AP_Float ground_pitch;
protected: protected:
AP_Int16 target_alt; AP_Int16 target_alt;
AP_Int16 target_dist; AP_Int16 target_dist;

9
ArduPlane/mode_takeoff.cpp
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@ -41,6 +41,15 @@ const AP_Param::GroupInfo ModeTakeoff::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("DIST", 4, ModeTakeoff, target_dist, 200), AP_GROUPINFO("DIST", 4, ModeTakeoff, target_dist, 200),
// @Param: GND_PITCH
// @DisplayName: Takeoff run pitch demand
// @Description: Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF_ROTATE_SPD. For taildraggers set to 3-point ground pitch angle and use TKOFF_TDRAG_ELEV to prevent nose tipover. For nose-wheel steer aircraft set to the ground pitch angle and if a reduction in nose-wheel load is required as speed rises, use a positive offset in TKOFF_GND_PITCH of up to 5 degrees above the angle on ground, starting at the mesured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment. To increase nose-wheel load, use a negative TKOFF_TDRAG_ELEV and refer to notes on TKOFF_TDRAG_ELEV before making adjustments.
// @Units: deg
// @Range: -5.0 10.0
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("GND_PITCH", 5, ModeTakeoff, ground_pitch, 5),
AP_GROUPEND AP_GROUPEND
}; };

7
ArduPlane/takeoff.cpp
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@ -155,11 +155,8 @@ void Plane::takeoff_calc_roll(void)
void Plane::takeoff_calc_pitch(void) void Plane::takeoff_calc_pitch(void)
{ {
if (auto_state.highest_airspeed < g.takeoff_rotate_speed) { if (auto_state.highest_airspeed < g.takeoff_rotate_speed) {
// we have not reached rotate speed, use a target pitch of 5 // we have not reached rotate speed, use the specified takeoff target pitch angle
// degrees. This should be enough to get the tail off the nav_pitch_cd = int32_t(100.0f * mode_takeoff.ground_pitch);
// ground, while making it unlikely that overshoot in the
// pitch controller will cause a prop strike
nav_pitch_cd = 500;
return; return;
} }