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APM: added RUDDER_STEER option

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when enabled, this uses only the rudder to steer during takeoff and
landing, using aileron only for levelling
This commit is contained in:
Andrew Tridgell 2012-09-07 11:43:17 +10:00
parent 9b2a2b2c2e
commit b2a74951d1
3 changed files with 18 additions and 4 deletions
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13
ArduPlane/ArduPlane.pde
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@ -1076,7 +1076,7 @@ static void update_current_flight_mode(void)
switch(nav_command_ID) { switch(nav_command_ID) {
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
if (hold_course != -1) { if (hold_course != -1 && g.rudder_steer == 0) {
calc_nav_roll(); calc_nav_roll();
} else { } else {
nav_roll_cd = 0; nav_roll_cd = 0;
@ -1106,14 +1106,19 @@ static void update_current_flight_mode(void)
break; break;
case MAV_CMD_NAV_LAND: case MAV_CMD_NAV_LAND:
calc_nav_roll(); if (g.rudder_steer == 0) {
calc_nav_roll();
} else {
nav_roll_cd = 0;
}
calc_nav_pitch();
calc_throttle();
if (!alt_control_airspeed() || land_complete) { if (!alt_control_airspeed() || land_complete) {
// hold pitch constant in final approach // hold pitch constant in final approach
nav_pitch_cd = g.land_pitch_cd; nav_pitch_cd = g.land_pitch_cd;
} else {
calc_nav_pitch();
} }
calc_throttle();
if (land_complete) { if (land_complete) {
// we are in the final stage of a landing - force // we are in the final stage of a landing - force

2
ArduPlane/Parameters.h
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@ -74,6 +74,7 @@ public:
k_param_land_flare_alt, k_param_land_flare_alt,
k_param_land_flare_sec, k_param_land_flare_sec,
k_param_crosstrack_min_distance, k_param_crosstrack_min_distance,
k_param_rudder_steer,
// 110: Telemetry control // 110: Telemetry control
// //
@ -331,6 +332,7 @@ public:
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
AP_Int8 sonar_enabled; AP_Int8 sonar_enabled;
AP_Int8 stick_mixing; AP_Int8 stick_mixing;
AP_Int8 rudder_steer;
// Camera // Camera
#if CAMERA == ENABLED #if CAMERA == ENABLED

7
ArduPlane/Parameters.pde
View File

@ -81,6 +81,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
GSCALAR(stick_mixing, "STICK_MIXING", 1), GSCALAR(stick_mixing, "STICK_MIXING", 1),
// @Param: RUDDER_STEER
// @DisplayName: Rudder steering on takeoff and landing
// @Description: When enabled, only rudder will be used for steering during takeoff and landing, with the ailerons used to hold the plane level
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(rudder_steer, "RUDDER_STEER", 0),
// @Param: land_pitch_cd // @Param: land_pitch_cd
// @DisplayName: Landing Pitch // @DisplayName: Landing Pitch
// @Description: Used in autoland for planes without airspeed sensors in hundredths of a degree // @Description: Used in autoland for planes without airspeed sensors in hundredths of a degree