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Plane: support twin-engine planes 

with differential thrust for yaw
This commit is contained in:
Andrew Tridgell 2017-02-13 12:03:22 +11:00
parent 584fbf629b
commit b3380ecfa7
3 changed files with 29 additions and 0 deletions
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1
ArduPlane/Plane.h
View File

@ -1009,6 +1009,7 @@ private:
void servo_output_mixers(void);
void servos_output(void);
void servos_auto_trim(void);
void servos_twin_engine_mix();
void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
bool allow_reverse_thrust(void);
void update_aux();

3
ArduPlane/radio.cpp
View File

@ -29,6 +29,9 @@ void Plane::set_control_channels(void)
} else {
// reverse thrust
channel_throttle->set_angle(100);
SRV_Channels::set_angle(SRV_Channel::k_throttle, 100);
SRV_Channels::set_angle(SRV_Channel::k_throttleLeft, 100);
SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100);
}
if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {

25
ArduPlane/servos.cpp
View File

@ -595,6 +595,28 @@ void Plane::servo_output_mixers(void)
}
}
/*
support for twin-engine planes
*/
void Plane::servos_twin_engine_mix(void)
{
float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
float rudder = SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / float(SERVO_MAX);
float throttle_left, throttle_right;
if (throttle < 0 && aparm.throttle_min < 0) {
// doing reverse thrust
throttle_left = constrain_float(throttle + 50 * rudder, -100, 0);
throttle_right = constrain_float(throttle - 50 * rudder, -100, 0);
} else {
// doing forward thrust
throttle_left = constrain_float(throttle + 50 * rudder, 0, 100);
throttle_right = constrain_float(throttle - 50 * rudder, 0, 100);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right);
}
/*
Set the flight control servos based on the current calculated values
@ -733,6 +755,9 @@ void Plane::set_servos(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct);
}
// support twin-engine aircraft
servos_twin_engine_mix();
// run output mixer and send values to the hal for output
servos_output();
}