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Plane: Fixed unhandled TKOFF_THR_MAX=0 case

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George Zogopoulos 2024-07-29 21:31:43 +02:00 committed by Andrew Tridgell
parent 21ad679b61
commit ae6f41f414
2 changed files with 8 additions and 2 deletions
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7
ArduPlane/servos.cpp
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@ -534,12 +534,17 @@ float Plane::apply_throttle_limits(float throttle_in)
// Or (in contrast) to give some extra throttle during the initial climb. // Or (in contrast) to give some extra throttle during the initial climb.
max_throttle = aparm.takeoff_throttle_max.get(); max_throttle = aparm.takeoff_throttle_max.get();
} }
// Do not allow min throttle to go below a lower threshold. // Do not allow min throttle to go below a lower threshold.
// This is typically done to protect against premature stalls close to the ground. // This is typically done to protect against premature stalls close to the ground.
const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE); const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
if (!use_throttle_range || !ahrs.using_airspeed_sensor()) { if (!use_throttle_range || !ahrs.using_airspeed_sensor()) {
// Use a constant max throttle throughout the takeoff or when airspeed readings are not available. // Use a constant max throttle throughout the takeoff or when airspeed readings are not available.
min_throttle = MAX(min_throttle, aparm.takeoff_throttle_max.get()); if (aparm.takeoff_throttle_max.get() == 0) {
min_throttle = MAX(min_throttle, aparm.throttle_max.get());
} else {
min_throttle = MAX(min_throttle, aparm.takeoff_throttle_max.get());
}
} else if (use_throttle_range) { // Use a throttle range through the takeoff. } else if (use_throttle_range) { // Use a throttle range through the takeoff.
if (aparm.takeoff_throttle_min.get() != 0) { // This is enabled by TKOFF_MODE==1. if (aparm.takeoff_throttle_min.get() != 0) { // This is enabled by TKOFF_MODE==1.
min_throttle = MAX(min_throttle, aparm.takeoff_throttle_min.get()); min_throttle = MAX(min_throttle, aparm.takeoff_throttle_min.get());

3
ArduPlane/takeoff.cpp
View File

@ -232,7 +232,8 @@ void Plane::takeoff_calc_throttle(const bool use_max_throttle) {
// Set the minimum throttle limit. // Set the minimum throttle limit.
const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE); const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
if (!use_throttle_range || !ahrs.using_airspeed_sensor() || use_max_throttle) { // Traditional takeoff throttle limit. if (!use_throttle_range || !ahrs.using_airspeed_sensor() || use_max_throttle) { // Traditional takeoff throttle limit.
TECS_controller.set_throttle_min(0.01f*aparm.takeoff_throttle_max); float min_throttle = (aparm.takeoff_throttle_max != 0) ? 0.01f*aparm.takeoff_throttle_max : 0.01f*aparm.throttle_max;
TECS_controller.set_throttle_min(min_throttle);
} else { // TKOFF_MODE == 1, allow for a throttle range. } else { // TKOFF_MODE == 1, allow for a throttle range.
if (aparm.takeoff_throttle_min != 0) { // Override THR_MIN. if (aparm.takeoff_throttle_min != 0) { // Override THR_MIN.
TECS_controller.set_throttle_min(0.01f*aparm.takeoff_throttle_min); TECS_controller.set_throttle_min(0.01f*aparm.takeoff_throttle_min);