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Plane: show throttle level in vtol modes

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This commit is contained in:
Andrew Tridgell 2016-01-03 21:38:51 +11:00
parent 71b0d5fb6d
commit b1177521ef
2 changed files with 12 additions and 0 deletions
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5
ArduPlane/quadplane.h
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@ -50,6 +50,11 @@ public:
// vtol help for is_flying()
bool is_flying(void);
// return current throttle as a percentate
uint8_t throttle_percentage(void) const {
return last_throttle * 0.1f;
}
private:
AP_AHRS_NavEKF &ahrs;

7
ArduPlane/system.cpp
View File

@ -375,6 +375,9 @@ void Plane::set_mode(enum FlightMode mode)
// new mode means new loiter
loiter.start_time_ms = 0;
// assume non-VTOL mode
auto_state.vtol_mode = false;
switch(control_mode)
{
case INITIALISING:
@ -454,6 +457,7 @@ void Plane::set_mode(enum FlightMode mode)
control_mode = previous_mode;
} else {
auto_throttle_mode = false;
auto_state.vtol_mode = true;
}
break;
}
@ -746,6 +750,9 @@ void Plane::frsky_telemetry_send(void)
*/
uint8_t Plane::throttle_percentage(void)
{
if (auto_state.vtol_mode) {
return quadplane.throttle_percentage();
}
// to get the real throttle we need to use norm_output() which
// returns a number from -1 to 1.
return constrain_int16(50*(channel_throttle->norm_output()+1), 0, 100);