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APM: added THR_SUPP_MAN option 

this allows for manual throttle control during auto throttle
suppression. This is useful for keeping a petrol engine idling before
takeoff
This commit is contained in:
Andrew Tridgell 2012-09-22 16:17:38 +10:00
parent 060b7dd5d4
commit 8c1766f5df
3 changed files with 30 additions and 14 deletions
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35
ArduPlane/Attitude.pde
View File

@ -365,19 +365,6 @@ static void set_servos(void)
g.channel_pitch.radio_out = elevon2_trim + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
}
#if THROTTLE_OUT == 0
g.channel_throttle.servo_out = 0;
#else
// convert 0 to 100% into PWM
g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
if (suppress_throttle()) {
g.channel_throttle.servo_out = 0;
}
#endif
if (control_mode >= FLY_BY_WIRE_B) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
@ -402,8 +389,28 @@ static void set_servos(void)
g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm();
}
g.channel_throttle.calc_pwm();
g.channel_rudder.calc_pwm();
#if THROTTLE_OUT == 0
g.channel_throttle.servo_out = 0;
#else
// convert 0 to 100% into PWM
g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out,
g.throttle_min.get(),
g.throttle_max.get());
if (suppress_throttle()) {
g.channel_throttle.servo_out = 0;
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
g.channel_throttle.radio_out = g.channel_throttle.radio_in;
} else {
g.channel_throttle.calc_pwm();
}
} else {
g.channel_throttle.calc_pwm();
}
#endif
}
// Auto flap deployment

2
ArduPlane/Parameters.h
View File

@ -160,6 +160,7 @@ public:
k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
k_param_throttle_suppress_manual,
//
// 200: Feed-forward gains
@ -275,6 +276,7 @@ public:
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_suppress_manual;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise;

7
ArduPlane/Parameters.pde
View File

@ -281,6 +281,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(throttle_slewrate, "THR_SLEWRATE", THROTTLE_SLEW_LIMIT),
// @Param: THR_SUPP_MAN
// @DisplayName: Throttle suppress manual passthru
// @Description: When throttle is supressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(throttle_suppress_manual,"THR_SUPP_MAN", 0),
// @Param: THR_FAILSAFE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel