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Plane: added THR_PASS_STAB parameter 

this allows direct passthru of throttle in STABILIZE and FBWA, which
is useful for nitro planes wher you have a throttle cut switch that
drops the throttle below normal minimum.
This commit is contained in:
Andrew Tridgell 2012-11-26 23:29:00 +11:00
parent 1059ef2a54
commit 92cd631ce5
3 changed files with 16 additions and 0 deletions
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7
ArduPlane/Attitude.pde
View File

@ -454,6 +454,7 @@ static void set_servos(void)
g.throttle_max.get());
if (suppress_throttle()) {
// throttle is suppressed in auto mode
g.channel_throttle.servo_out = 0;
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
@ -461,7 +462,13 @@ static void set_servos(void)
} else {
g.channel_throttle.calc_pwm();
}
} else if (g.throttle_passthru_stabilize &&
(control_mode == STABILIZE || control_mode == FLY_BY_WIRE_A)) {
// manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set
g.channel_throttle.radio_out = g.channel_throttle.radio_in;
} else {
// normal throttle calculation based on servo_out
g.channel_throttle.calc_pwm();
}
#endif

2
ArduPlane/Parameters.h
View File

@ -170,6 +170,7 @@ public:
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
k_param_throttle_suppress_manual,
k_param_throttle_passthru_stabilize,
//
// 200: Feed-forward gains
@ -286,6 +287,7 @@ public:
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_suppress_manual;
AP_Int8 throttle_passthru_stabilize;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise;

7
ArduPlane/Parameters.pde
View File

@ -288,6 +288,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(throttle_suppress_manual,"THR_SUPP_MAN", 0),
// @Param: THR_PASS_STAB
// @DisplayName: Throttle passthru in stabilize
// @Description: If this is set then when in STABILIZE or FBWA mode the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(throttle_passthru_stabilize,"THR_PASS_STAB", 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