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ArduPlane: option to keep landing throttle at thr_min during flare and touchdown, not zero.

This commit is contained in:
Buzz 2020-05-18 16:57:30 +10:00 committed by Andrew Tridgell
parent dc3db0476b
commit d4df145b4b
2 changed files with 6 additions and 3 deletions
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7
ArduPlane/servos.cpp
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@ -469,8 +469,11 @@ void Plane::set_servos_controlled(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
} }
} else if (suppress_throttle()) { } else if (suppress_throttle()) {
// throttle is suppressed in auto mode SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0 ); // default
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); // throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines:
if (landing.is_flaring() && landing.use_thr_min_during_flare() ) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get());
}
if (g.throttle_suppress_manual) { if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed // manual pass through of throttle while throttle is suppressed
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true)); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));

2
libraries/AP_Landing/AP_Landing.cpp
View File

@ -143,7 +143,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
// @Path: AP_Landing_Deepstall.cpp // @Path: AP_Landing_Deepstall.cpp
AP_SUBGROUPINFO(deepstall, "DS_", 15, AP_Landing, AP_Landing_Deepstall), AP_SUBGROUPINFO(deepstall, "DS_", 15, AP_Landing, AP_Landing_Deepstall),
// @Param: _OPTIONS // @Param: OPTIONS
// @DisplayName: Landing options bitmask // @DisplayName: Landing options bitmask
// @Description: Bitmask of options to use with landing. // @Description: Bitmask of options to use with landing.
// @Bitmask: 0: honor min throttle during landing flare // @Bitmask: 0: honor min throttle during landing flare