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Plane: Converted paramter TKOFF_MODE into TKOFF_OPTIONS

This commit is contained in:
George Zogopoulos 2024-07-25 21:28:59 +02:00 committed by Andrew Tridgell
parent 773c91cec1
commit c213ee2ef8
4 changed files with 12 additions and 10 deletions
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12
ArduPlane/Parameters.cpp
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@ -151,19 +151,19 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: TKOFF_THR_MIN
// @DisplayName: Takeoff minimum throttle
// @Description: The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes, when TKOFF_MODE=1. Also, the minimum throttle to use in a quadpane forward transition. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition. It is used when it is larger than THR_MIN, otherwise THR_MIN is used instead.
// @Description: The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes, when TKOFF_OPTIONS bit 0 is set. Also, the minimum throttle to use in a quadpane forward transition. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition. It is used when it is larger than THR_MIN, otherwise THR_MIN is used instead.
// @Units: %
// @Range: 0 100
// @Increment: 1
// @User: Standard
ASCALAR(takeoff_throttle_min, "TKOFF_THR_MIN", 60),
// @Param: TKOFF_MODE
// @DisplayName: Takeoff mode
// @Description: This selects the mode of the takeoff in AUTO and TAKEOFF flight modes. 0: During the takeoff, the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX). 1: During the takeoff TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor.
// @Values: 0:Traditional,1:Throttle range
// @Param: TKOFF_OPTIONS
// @DisplayName: Takeoff options
// @Description: This selects the mode of the takeoff in AUTO and TAKEOFF flight modes.
// @Bitmask: 0: When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor.
// @User: Advanced
ASCALAR(takeoff_mode, "TKOFF_MODE", 0),
ASCALAR(takeoff_options, "TKOFF_OPTIONS", 0),
// @Param: TKOFF_TDRAG_ELEV
// @DisplayName: Takeoff tail dragger elevator

2
ArduPlane/Parameters.h
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@ -358,7 +358,7 @@ public:
k_param_takeoff_throttle_max_t,
k_param_autotune_options,
k_param_takeoff_throttle_min,
k_param_takeoff_mode,
k_param_takeoff_options,
};
AP_Int16 format_version;

5
ArduPlane/servos.cpp
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@ -536,10 +536,11 @@ float Plane::apply_throttle_limits(float throttle_in)
}
// Do not allow min throttle to go below a lower threshold.
// This is typically done to protect against premature stalls close to the ground.
if (aparm.takeoff_mode.get() == 0 || !ahrs.using_airspeed_sensor()) {
const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
if (!use_throttle_range || !ahrs.using_airspeed_sensor()) {
// 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());
} else if (aparm.takeoff_mode.get() == 1) { // 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.
min_throttle = MAX(min_throttle, aparm.takeoff_throttle_min.get());
}

3
ArduPlane/takeoff.cpp
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@ -230,7 +230,8 @@ void Plane::takeoff_calc_throttle(const bool use_max_throttle) {
}
// Set the minimum throttle limit.
if (aparm.takeoff_mode==0 || !ahrs.using_airspeed_sensor() || use_max_throttle) { // Traditional takeoff throttle limit.
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.
TECS_controller.set_throttle_min(0.01f*aparm.takeoff_throttle_max);
} else { // TKOFF_MODE == 1, allow for a throttle range.
if (aparm.takeoff_throttle_min != 0) { // Override THR_MIN.