Plane: Add flight options bitmask

ArduPlane/Attitude.cpp

@@ -350,7 +350,7 @@ void Plane::stabilize_acro(float speed_scaler)
     /*
       manual rudder for now
      */
-    steering_control.steering = steering_control.rudder = rudder_input;
+    steering_control.steering = steering_control.rudder = rudder_input();
 }
 
 /*
@@ -450,9 +450,7 @@ void Plane::calc_throttle()
 void Plane::calc_nav_yaw_coordinated(float speed_scaler)
 {
     bool disable_integrator = false;
-    if (control_mode == STABILIZE && rudder_input != 0) {
+    int16_t rudder_in = rudder_input();
-        disable_integrator = true;
-    }
 
     int16_t commanded_rudder;
 
@@ -462,11 +460,15 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
             millis() - plane.guided_state.last_forced_rpy_ms.z < 3000) {
         commanded_rudder = plane.guided_state.forced_rpy_cd.z;
     } else {
+        if (control_mode == STABILIZE && rudder_in != 0) {
+            disable_integrator = true;
+        }
+
         commanded_rudder = yawController.get_servo_out(speed_scaler, disable_integrator);
 
         // add in rudder mixing from roll
         commanded_rudder += SRV_Channels::get_output_scaled(SRV_Channel::k_aileron) * g.kff_rudder_mix;
-        commanded_rudder += rudder_input;
+        commanded_rudder += rudder_in;
     }
 
     steering_control.rudder = constrain_int16(commanded_rudder, -4500, 4500);
@@ -499,11 +501,11 @@ void Plane::calc_nav_yaw_ground(void)
         // manual rudder control while still
         steer_state.locked_course = false;
         steer_state.locked_course_err = 0;
-        steering_control.steering = rudder_input;
+        steering_control.steering = rudder_input();
         return;
     }
 
-    float steer_rate = (rudder_input/4500.0f) * g.ground_steer_dps;
+    float steer_rate = (rudder_input()/4500.0f) * g.ground_steer_dps;
     if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF ||
         flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
         steer_rate = 0;

ArduPlane/Parameters.cpp

@@ -1177,6 +1177,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(gripper, "GRIP_", 12, ParametersG2, AP_Gripper),
 #endif
 
+    // @Param: FLIGHT_OPTIONS
+    // @DisplayName: Flight mode options
+    // @Description: Flight mode specific options
+    // @Bitmask: 0:Rudder mixing in direct flight modes only (Manual, Stabilize, Acro)
+    // @User: Advanced
+    AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
+
     AP_GROUPEND
 };
 

ArduPlane/Parameters.h

@@ -544,6 +544,8 @@ public:
     // Payload Gripper
     AP_Gripper gripper;
 #endif
+
+    AP_Int32 flight_options;
 };
 
 extern const AP_Param::Info var_info[];

ArduPlane/Plane.h

@@ -590,9 +590,6 @@ private:
     // The instantaneous desired pitch angle.  Hundredths of a degree
     int32_t nav_pitch_cd;
 
-    // we separate out rudder input to allow for RUDDER_ONLY=1
-    int16_t rudder_input;
-
     // the aerodymamic load factor. This is calculated from the demanded
     // roll before the roll is clipped, using 1/sqrt(cos(nav_roll))
     float aerodynamic_load_factor = 1.0f;
@@ -909,9 +906,10 @@ private:
     void init_rc_out_aux();
     void rudder_arm_disarm_check();
     void read_radio();
+    int16_t rudder_input(void);
     void control_failsafe();
     bool trim_radio();
-    bool rc_failsafe_active(void);
+    bool rc_failsafe_active(void) const;
     void read_rangefinder(void);
     void read_airspeed(void);
     void rpm_update(void);

ArduPlane/defines.h

@@ -197,3 +197,7 @@ enum {
     USE_REVERSE_THRUST_FBWB                     = (1<<9),
     USE_REVERSE_THRUST_GUIDED                   = (1<<10),
 };
+
+enum FlightOptions {
+    DIRECT_RUDDER_ONLY = (1 << 0),
+};

ArduPlane/navigation.cpp

@@ -231,7 +231,7 @@ void Plane::update_cruise()
 {
     if (!cruise_state.locked_heading &&
         channel_roll->get_control_in() == 0 &&
-        rudder_input == 0 &&
+        rudder_input() == 0 &&
         gps.status() >= AP_GPS::GPS_OK_FIX_2D &&
         gps.ground_speed() >= 3 &&
         cruise_state.lock_timer_ms == 0) {

ArduPlane/radio.cpp

@@ -210,22 +210,33 @@ void Plane::read_radio()
 
     rudder_arm_disarm_check();
 
+    // potentially swap inputs for tailsitters
+    quadplane.tailsitter_check_input();
+
+    // check for transmitter tuning changes
+    tuning.check_input(control_mode);
+}
+
+int16_t Plane::rudder_input(void)
+{
     if (g.rudder_only != 0) {
         // in rudder only mode we discard rudder input and get target
         // attitude from the roll channel.
-        rudder_input = 0;
+        return 0;
-    } else if (stick_mixing_enabled()) {
-        rudder_input = channel_rudder->get_control_in();
-    } else {
-        // no stick mixing
-        rudder_input = 0;
     }
 
-    // potentially swap inputs for tailsitters
+    if ((g2.flight_options & FlightOptions::DIRECT_RUDDER_ONLY) &&
-    quadplane.tailsitter_check_input();
+        !(control_mode == MANUAL || control_mode == STABILIZE || control_mode == ACRO)) {
+        // the user does not want any input except in these modes
+        return 0;
+    }
+
+    if (stick_mixing_enabled()) {
+        return channel_rudder->get_control_in();
+    }
+
+    return 0;
     
-    // check for transmitter tuning changes
-    tuning.check_input(control_mode);
 }
 
 void Plane::control_failsafe()
@@ -340,7 +351,7 @@ bool Plane::trim_radio()
   return true if throttle level is below throttle failsafe threshold
   or RC input is invalid
  */
-bool Plane::rc_failsafe_active(void)
+bool Plane::rc_failsafe_active(void) const
 {
     if (!g.throttle_fs_enabled) {
         return false;