Copter: GND_EFFECT_COMP parameter to enable ground effect compensation

ArduCopter/APM_Config.h

@@ -39,7 +39,6 @@
 
 // features below are disabled by default on all boards
 //#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
-//#define GNDEFFECT_COMPENSATION ENABLED            // enable ground effect compensation for barometer (if propwash interferes with the barometer on the ground)
 //#define CAL_ALWAYS_REBOOT                         // flight controller will reboot after compass or accelerometer calibration completes
 //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
 

ArduCopter/ArduCopter.cpp

@@ -315,9 +315,8 @@ void Copter::throttle_loop()
     heli_update_landing_swash();
 #endif
 
-#if GNDEFFECT_COMPENSATION == ENABLED
+    // compensate for ground effect (if enabled)
     update_ground_effect_detector();
-#endif // GNDEFFECT_COMPENSATION == ENABLED
 }
 
 // update_mount - update camera mount position

ArduCopter/Copter.h

@@ -592,7 +592,6 @@ private:
     int16_t hover_roll_trim_scalar_slew;
 #endif
 
-#if GNDEFFECT_COMPENSATION == ENABLED
     // ground effect detector
     struct {
         bool takeoff_expected;
@@ -600,7 +599,6 @@ private:
         uint32_t takeoff_time_ms;
         float takeoff_alt_cm;
     } gndeffect_state;
-#endif // GNDEFFECT_COMPENSATION == ENABLED
 
     static const AP_Scheduler::Task scheduler_tasks[];
     static const AP_Param::Info var_info[];
@@ -927,9 +925,7 @@ private:
     void update_land_and_crash_detectors();
     void update_land_detector();
     void update_throttle_thr_mix();
-#if GNDEFFECT_COMPENSATION == ENABLED
     void update_ground_effect_detector(void);
-#endif // GNDEFFECT_COMPENSATION == ENABLED
     void landinggear_update();
     void update_notify();
     void motor_test_output();

ArduCopter/Parameters.cpp

@@ -988,6 +988,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, ThrowType_Upward),
 
+    // @Param: GND_EFFECT_COMP
+    // @DisplayName: Ground Effect Compensation Enable/Disable
+    // @Description: Ground Effect Compensation Enable/Disable
+    // @Values: 0:Disabled,1:Enabled
+    // @User: Advanced
+    AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 0),
+
     AP_GROUPEND
 };
 

ArduCopter/Parameters.h

@@ -554,6 +554,9 @@ public:
     // Throw mode parameters
     AP_Int8 throw_nextmode;
     AP_Int8 throw_type;
+
+    // ground effect compensation enable/disable
+    AP_Int8 gndeffect_comp_enabled;
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/baro_ground_effect.cpp

@@ -1,10 +1,10 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 #include "Copter.h"
-#if GNDEFFECT_COMPENSATION == ENABLED
+
 void Copter::update_ground_effect_detector(void)
 {
-    if(!motors.armed()) {
+    if(!g2.gndeffect_comp_enabled || !motors.armed()) {
         // disarmed - disable ground effect and return
         gndeffect_state.takeoff_expected = false;
         gndeffect_state.touchdown_expected = false;
@@ -69,4 +69,3 @@ void Copter::update_ground_effect_detector(void)
     ahrs.setTakeoffExpected(gndeffect_state.takeoff_expected);
     ahrs.setTouchdownExpected(gndeffect_state.touchdown_expected);
 }
-#endif // GNDEFFECT_COMPENSATION == ENABLED

ArduCopter/config.h

@@ -190,10 +190,6 @@
  # define FS_GCS_TIMEOUT_MS             5000    // gcs failsafe triggers after 5 seconds with no GCS heartbeat
 #endif
 
-#ifndef GNDEFFECT_COMPENSATION
- # define GNDEFFECT_COMPENSATION          DISABLED
-#endif
-
 // Radio failsafe while using RC_override
 #ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
  # define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS  1000    // RC Radio failsafe triggers after 1 second while using RC_override from ground station