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Plane: add midposition to flare RC option sw

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Hwurzburg 2020-10-14 11:34:12 -05:00 committed by Andrew Tridgell
parent 6f92abea63
commit cf055fd1e0
4 changed files with 14 additions and 6 deletions
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4
ArduPlane/Attitude.cpp
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@ -124,8 +124,8 @@ void Plane::stabilize_pitch(float speed_scaler)
disable_integrator = true;
}
// if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_CD
if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && channel_throttle->in_trim_dz() && !auto_throttle_mode && flare_switch_active) {
// if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_CD if flight option FORCE_FLARE_ATTITUDE is set
if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && channel_throttle->in_trim_dz() && !auto_throttle_mode && flare_mode == FlareMode::ENABLED_PITCH_TARGET) {
demanded_pitch = landing.get_pitch_cd();
}

8
ArduPlane/Plane.h
View File

@ -1129,7 +1129,13 @@ private:
CrowMode crow_mode = CrowMode::NORMAL;
bool flare_switch_active;
enum class FlareMode {
FLARE_DISABLED = 0,
ENABLED_NO_PITCH_TARGET,
ENABLED_PITCH_TARGET
};
FlareMode flare_mode;
public:
void failsafe_check(void);

6
ArduPlane/RC_Channel.cpp
View File

@ -121,14 +121,16 @@ void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
{
switch(ch_flag) {
case AuxSwitchPos::HIGH:
plane.flare_switch_active = true;
plane.flare_mode = Plane::FlareMode::ENABLED_PITCH_TARGET;
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
break;
case AuxSwitchPos::MIDDLE:
plane.flare_mode = Plane::FlareMode::ENABLED_NO_PITCH_TARGET;
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
break;
case AuxSwitchPos::LOW:
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_ENABLED);
plane.flare_switch_active = false;
plane.flare_mode = Plane::FlareMode::FLARE_DISABLED;
break;
}
}

2
ArduPlane/servos.cpp
View File

@ -735,7 +735,7 @@ void Plane::servos_twin_engine_mix(void)
*/
void Plane::force_flare(void)
{
if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && !auto_throttle_mode && channel_throttle->in_trim_dz() && flare_switch_active) {
if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && !auto_throttle_mode && channel_throttle->in_trim_dz() && flare_mode != FlareMode::FLARE_DISABLED) {
int32_t tilt = -SERVO_MAX; //this is tilts up for a normal tiltrotor
if (quadplane.tilt.tilt_type == QuadPlane::TILT_TYPE_BICOPTER) {
tilt = 0; // this is tilts up for a Bicopter