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Plane:add FlightOptions helper

This commit is contained in:
Henry Wurzburg 2023-04-25 22:27:13 -05:00 committed by Andrew Tridgell
parent 6248a657c8
commit b4c79c9105
13 changed files with 30 additions and 23 deletions
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2
ArduPlane/AP_Arming.cpp
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@ -101,7 +101,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
ret = false;
}
if (plane.g2.flight_options & FlightOptions::CENTER_THROTTLE_TRIM){
if (plane.flight_option_enabled(FlightOptions::CENTER_THROTTLE_TRIM)){
int16_t trim = plane.channel_throttle->get_radio_trim();
if (trim < 1250 || trim > 1750) {
check_failed(display_failure, "Throttle trim not near center stick(%u)",trim );

12
ArduPlane/ArduPlane.cpp
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@ -303,7 +303,7 @@ void Plane::one_second_loop()
adsb.set_max_speed(aparm.airspeed_max);
#endif
if (g2.flight_options & FlightOptions::ENABLE_DEFAULT_AIRSPEED) {
if (flight_option_enabled(FlightOptions::ENABLE_DEFAULT_AIRSPEED)) {
// use average of min and max airspeed as default airspeed fusion with high variance
ahrs.writeDefaultAirSpeed((float)((aparm.airspeed_min + aparm.airspeed_max)/2),
(float)((aparm.airspeed_max - aparm.airspeed_min)/2));
@ -547,7 +547,7 @@ void Plane::update_alt()
tecs_target_alt_cm = relative_target_altitude_cm();
if (control_mode == &mode_rtl && !rtl.done_climb && (g2.rtl_climb_min > 0 || (plane.g2.flight_options & FlightOptions::CLIMB_BEFORE_TURN))) {
if (control_mode == &mode_rtl && !rtl.done_climb && (g2.rtl_climb_min > 0 || (plane.flight_option_enabled(FlightOptions::CLIMB_BEFORE_TURN)))) {
// ensure we do the initial climb in RTL. We add an extra
// 10m in the demanded height to push TECS to climb
// quickly
@ -864,7 +864,7 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
#endif
pitch = ahrs.pitch;
roll = ahrs.roll;
if (!(g2.flight_options & FlightOptions::OSD_REMOVE_TRIM_PITCH_CD)) { // correct for TRIM_PITCH_CD
if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH_CD))) { // correct for TRIM_PITCH_CD
pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
}
}
@ -881,4 +881,10 @@ void Plane::update_current_loc(void)
relative_altitude *= -1.0f;
}
// check if FLIGHT_OPTION is enabled
bool Plane::flight_option_enabled(FlightOptions flight_option) const
{
return g2.flight_options & flight_option;
}
AP_HAL_MAIN_CALLBACKS(&plane);

8
ArduPlane/Attitude.cpp
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@ -50,7 +50,7 @@ float Plane::calc_speed_scaler(void)
speed_scaler = 1;
}
if (!plane.ahrs.airspeed_sensor_enabled() &&
(plane.g2.flight_options & FlightOptions::SURPRESS_TKOFF_SCALING) &&
(plane.flight_option_enabled(FlightOptions::SURPRESS_TKOFF_SCALING)) &&
(plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is surpressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
return MIN(speed_scaler, 1.0f) ;
}
@ -145,7 +145,7 @@ float Plane::stabilize_roll_get_roll_out()
disable_integrator = true;
}
return rollController.get_servo_out(nav_roll_cd - ahrs.roll_sensor, speed_scaler, disable_integrator,
ground_mode && !(plane.g2.flight_options & FlightOptions::DISABLE_GROUND_PID_SUPPRESSION));
ground_mode && !(plane.flight_option_enabled(FlightOptions::DISABLE_GROUND_PID_SUPPRESSION)));
}
/*
@ -208,7 +208,7 @@ float Plane::stabilize_pitch_get_pitch_out()
}
return pitchController.get_servo_out(demanded_pitch - ahrs.pitch_sensor, speed_scaler, disable_integrator,
ground_mode && !(plane.g2.flight_options & FlightOptions::DISABLE_GROUND_PID_SUPPRESSION));
ground_mode && !(plane.flight_option_enabled(FlightOptions::DISABLE_GROUND_PID_SUPPRESSION)));
}
/*
@ -274,7 +274,7 @@ void Plane::stabilize_stick_mixing_fbw()
nav_roll_cd += roll_input * roll_limit_cd;
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
if ((control_mode == &mode_loiter) && (plane.g2.flight_options & FlightOptions::ENABLE_LOITER_ALT_CONTROL)) {
if ((control_mode == &mode_loiter) && (plane.flight_option_enabled(FlightOptions::ENABLE_LOITER_ALT_CONTROL))) {
// loiter is using altitude control based on the pitch stick, don't use it again here
return;
}

2
ArduPlane/GCS_Mavlink.cpp
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@ -133,7 +133,7 @@ void GCS_MAVLINK_Plane::send_attitude() const
float p = ahrs.pitch;
float y = ahrs.yaw;
if (!(plane.g2.flight_options & FlightOptions::GCS_REMOVE_TRIM_PITCH_CD)) {
if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH_CD))) {
p -= radians(plane.g.pitch_trim_cd * 0.01f);
}

1
ArduPlane/Plane.h
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@ -1027,6 +1027,7 @@ private:
void update_fly_forward(void);
void update_flight_stage();
void set_flight_stage(AP_FixedWing::FlightStage fs);
bool flight_option_enabled(FlightOptions flight_option) const;
// navigation.cpp
void loiter_angle_reset(void);

2
ArduPlane/mode_acro.cpp
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@ -111,7 +111,7 @@ void ModeAcro::stabilize()
const float rudd_expo = plane.rudder_in_expo(true);
const float yaw_rate = (rudd_expo/SERVO_MAX) * plane.g.acro_yaw_rate;
plane.steering_control.steering = plane.steering_control.rudder = plane.yawController.get_rate_out(yaw_rate, speed_scaler, false);
} else if (plane.g2.flight_options & FlightOptions::ACRO_YAW_DAMPER) {
} else if (plane.flight_option_enabled(FlightOptions::ACRO_YAW_DAMPER)) {
// use yaw controller
plane.calc_nav_yaw_coordinated();
} else {

8
ArduPlane/mode_loiter.cpp
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@ -9,7 +9,7 @@ bool ModeLoiter::_enter()
// make sure the local target altitude is the same as the nav target used for loiter nav
// this allows us to do FBWB style stick control
/*IGNORE_RETURN(plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, plane.target_altitude.amsl_cm));*/
if (plane.stick_mixing_enabled() && (plane.g2.flight_options & FlightOptions::ENABLE_LOITER_ALT_CONTROL)) {
if (plane.stick_mixing_enabled() && (plane.flight_option_enabled(FlightOptions::ENABLE_LOITER_ALT_CONTROL))) {
plane.set_target_altitude_current();
}
@ -21,7 +21,7 @@ bool ModeLoiter::_enter()
void ModeLoiter::update()
{
plane.calc_nav_roll();
if (plane.stick_mixing_enabled() && (plane.g2.flight_options & FlightOptions::ENABLE_LOITER_ALT_CONTROL)) {
if (plane.stick_mixing_enabled() && plane.flight_option_enabled(FlightOptions::ENABLE_LOITER_ALT_CONTROL)) {
plane.update_fbwb_speed_height();
} else {
plane.calc_nav_pitch();
@ -94,7 +94,7 @@ bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd)
void ModeLoiter::navigate()
{
if (plane.g2.flight_options & FlightOptions::ENABLE_LOITER_ALT_CONTROL) {
if (plane.flight_option_enabled(FlightOptions::ENABLE_LOITER_ALT_CONTROL)) {
// update the WP alt from the global target adjusted by update_fbwb_speed_height
plane.next_WP_loc.set_alt_cm(plane.target_altitude.amsl_cm, Location::AltFrame::ABSOLUTE);
}
@ -112,7 +112,7 @@ void ModeLoiter::navigate()
void ModeLoiter::update_target_altitude()
{
if (plane.stick_mixing_enabled() && (plane.g2.flight_options & FlightOptions::ENABLE_LOITER_ALT_CONTROL)) {
if (plane.stick_mixing_enabled() && (plane.flight_option_enabled(FlightOptions::ENABLE_LOITER_ALT_CONTROL))) {
return;
}
Mode::update_target_altitude();

2
ArduPlane/mode_rtl.cpp
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@ -47,7 +47,7 @@ void ModeRTL::update()
plane.calc_throttle();
bool alt_threshold_reached = false;
if (plane.g2.flight_options & FlightOptions::CLIMB_BEFORE_TURN) {
if (plane.flight_option_enabled(FlightOptions::CLIMB_BEFORE_TURN)) {
// Climb to ALT_HOLD_RTL before turning. This overrides RTL_CLIMB_MIN.
alt_threshold_reached = plane.current_loc.alt > plane.next_WP_loc.alt;
} else if (plane.g2.rtl_climb_min > 0) {

4
ArduPlane/navigation.cpp
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@ -157,9 +157,9 @@ void Plane::calc_airspeed_errors()
// FBW_B/cruise airspeed target
if (!failsafe.rc_failsafe && (control_mode == &mode_fbwb || control_mode == &mode_cruise)) {
if (g2.flight_options & FlightOptions::CRUISE_TRIM_AIRSPEED) {
if (flight_option_enabled(FlightOptions::CRUISE_TRIM_AIRSPEED)) {
target_airspeed_cm = aparm.airspeed_cruise_cm;
} else if (g2.flight_options & FlightOptions::CRUISE_TRIM_THROTTLE) {
} else if (flight_option_enabled(FlightOptions::CRUISE_TRIM_THROTTLE)) {
float control_min = 0.0f;
float control_mid = 0.0f;
const float control_max = channel_throttle->get_range();

6
ArduPlane/radio.cpp
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@ -222,7 +222,7 @@ int16_t Plane::rudder_input(void)
return 0;
}
if ((g2.flight_options & FlightOptions::DIRECT_RUDDER_ONLY) &&
if ((flight_option_enabled(FlightOptions::DIRECT_RUDDER_ONLY)) &&
!(control_mode == &mode_manual || control_mode == &mode_stabilize || control_mode == &mode_acro)) {
// the user does not want any input except in these modes
return 0;
@ -436,8 +436,8 @@ bool Plane::throttle_at_zero(void) const
/* true if throttle stick is at idle position...if throttle trim has been moved
to center stick area in conjunction with sprung throttle, cannot use in_trim, must use rc_min
*/
if (((!(g2.flight_options & FlightOptions::CENTER_THROTTLE_TRIM) && channel_throttle->in_trim_dz()) ||
(g2.flight_options & FlightOptions::CENTER_THROTTLE_TRIM && channel_throttle->in_min_dz()))) {
if (((!(flight_option_enabled(FlightOptions::CENTER_THROTTLE_TRIM) && channel_throttle->in_trim_dz())) ||
(flight_option_enabled(FlightOptions::CENTER_THROTTLE_TRIM)&& channel_throttle->in_min_dz()))) {
return true;
}
return false;

2
ArduPlane/reverse_thrust.cpp
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@ -144,7 +144,7 @@ float Plane::get_throttle_input(bool no_deadzone) const
float Plane::get_adjusted_throttle_input(bool no_deadzone) const
{
if ((plane.channel_throttle->get_type() != RC_Channel::ControlType::RANGE) ||
(g2.flight_options & FlightOptions::CENTER_THROTTLE_TRIM) == 0) {
(flight_option_enabled(FlightOptions::CENTER_THROTTLE_TRIM)) == 0) {
return get_throttle_input(no_deadzone);
}
float ret = channel_throttle->get_range() * throttle_curve(aparm.throttle_cruise * 0.01, 0, 0.5 + 0.5*channel_throttle->norm_input());

2
ArduPlane/servos.cpp
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@ -1017,7 +1017,7 @@ void Plane::servos_output(void)
landing_neutral_control_surface_servos();
// set rudder arm waiting for neutral control throws (rudder neutral, aileron/rt vtail/rt elevon to full right)
if (g2.flight_options & FlightOptions::INDICATE_WAITING_FOR_RUDDER_NEUTRAL) {
if (flight_option_enabled(FlightOptions::INDICATE_WAITING_FOR_RUDDER_NEUTRAL)) {
indicate_waiting_for_rud_neutral_to_takeoff();
}

2
ArduPlane/takeoff.cpp
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@ -54,7 +54,7 @@ bool Plane::auto_takeoff_check(void)
return false;
}
bool do_takeoff_attitude_check = !(g2.flight_options & FlightOptions::DISABLE_TOFF_ATTITUDE_CHK);
bool do_takeoff_attitude_check = !(flight_option_enabled(FlightOptions::DISABLE_TOFF_ATTITUDE_CHK));
#if HAL_QUADPLANE_ENABLED
// disable attitude check on tailsitters
do_takeoff_attitude_check = !quadplane.tailsitter.enabled();