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APM: fixed throttle nudging 

The nudge value depended on RC3_TRIM, which is not a reliable
value. It tried to only take effect when the throttle stick was above
50%, but if RC3_TRIM was high for some reason (say 1500) then it would
actually depress the throttle by a large amount, which could cause the
plane to stall.

This also adds a boolean option THROTTLE_NUDGE to allow disabling of
throttle nudging
This commit is contained in:
Andrew Tridgell 2012-09-09 19:36:35 +10:00
parent 966c1988c3
commit a90182b9d8
3 changed files with 14 additions and 3 deletions
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2
ArduPlane/Parameters.h
View File

@ -75,6 +75,7 @@ public:
k_param_land_flare_sec,
k_param_crosstrack_min_distance,
k_param_rudder_steer,
k_param_throttle_nudge,
// 110: Telemetry control
//
@ -276,6 +277,7 @@ public:
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise;
AP_Int8 throttle_nudge;
// Failsafe
AP_Int8 short_fs_action;

8
ArduPlane/Parameters.pde
View File

@ -295,6 +295,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
// @Param: THROTTLE_NUDGE
// @DisplayName: Throttle nudge enable
// @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle to higher or lower values
// @Values: 0:Disabled,1:Enabled
// @User: Standard
// @User: Standard
GSCALAR(throttle_nudge, "THROTTLE_NUDGE", 1),
// @Param: FS_SHORT_ACTN
// @DisplayName: Short failsafe action
// @Description: The action to take on a short (1 second) failsafe event

7
ArduPlane/radio.pde
View File

@ -94,11 +94,12 @@ static void read_radio()
g.channel_throttle.servo_out = g.channel_throttle.control_in;
if (g.channel_throttle.servo_out > 50) {
if (g.throttle_nudge && g.channel_throttle.servo_out > 50) {
float nudge = (g.channel_throttle.servo_out - 50) * 0.02;
if (alt_control_airspeed()) {
airspeed_nudge_cm = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise_cm) * ((g.channel_throttle.norm_input()-0.5) / 0.5);
airspeed_nudge_cm = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise_cm) * nudge;
} else {
throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((g.channel_throttle.norm_input()-0.5) / 0.5);
throttle_nudge = (g.throttle_max - g.throttle_cruise) * nudge;
}
} else {
airspeed_nudge_cm = 0;