Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: added an abstraction for reverse thrust 

use have_reverse_thrust() and get_throttle_input()
This commit is contained in:
Andrew Tridgell 2018-11-10 09:38:43 +11:00
parent f71013928a
commit da69bf3391
15 changed files with 153 additions and 111 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/ArduPlane.cpp
View File

@ -859,7 +859,7 @@ void Plane::update_flight_stage(void)
if (landing.is_commanded_go_around() || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
// abort mode is sticky, it must complete while executing NAV_LAND
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
} else if (landing.get_abort_throttle_enable() && channel_throttle->get_control_in() >= 90 &&
} else if (landing.get_abort_throttle_enable() && get_throttle_input() >= 90 &&
landing.request_go_around()) {
gcs().send_text(MAV_SEVERITY_INFO,"Landing aborted via throttle");
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);

78
ArduPlane/Attitude.cpp
View File

@ -411,7 +411,7 @@ void Plane::stabilize()
/*
see if we should zero the attitude controller integrators.
*/
if (channel_throttle->get_control_in() == 0 &&
if (get_throttle_input() == 0 &&
fabsf(relative_altitude) < 5.0f &&
fabsf(barometer.get_climb_rate()) < 0.5f &&
gps.ground_speed() < 3) {
@ -507,7 +507,7 @@ void Plane::calc_nav_yaw_course(void)
void Plane::calc_nav_yaw_ground(void)
{
if (gps.ground_speed() < 1 &&
channel_throttle->get_control_in() == 0 &&
get_throttle_input() == 0 &&
flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF &&
flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
// manual rudder control while still
@ -583,80 +583,6 @@ void Plane::calc_nav_roll()
update_load_factor();
}
bool Plane::allow_reverse_thrust(void)
{
// check if we should allow reverse thrust
bool allow = false;
if (g.use_reverse_thrust == USE_REVERSE_THRUST_NEVER) {
return false;
}
switch (control_mode) {
case AUTO:
{
uint16_t nav_cmd = mission.get_current_nav_cmd().id;
// never allow reverse thrust during takeoff
if (nav_cmd == MAV_CMD_NAV_TAKEOFF) {
return false;
}
// always allow regardless of mission item
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_ALWAYS);
// landing
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LAND_APPROACH) &&
(nav_cmd == MAV_CMD_NAV_LAND);
// LOITER_TO_ALT
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT) &&
(nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT);
// any Loiter (including LOITER_TO_ALT)
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_ALL) &&
(nav_cmd == MAV_CMD_NAV_LOITER_TIME ||
nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT ||
nav_cmd == MAV_CMD_NAV_LOITER_TURNS ||
nav_cmd == MAV_CMD_NAV_LOITER_UNLIM);
// waypoints
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_WAYPOINT) &&
(nav_cmd == MAV_CMD_NAV_WAYPOINT ||
nav_cmd == MAV_CMD_NAV_SPLINE_WAYPOINT);
}
break;
case LOITER:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_LOITER);
break;
case RTL:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_RTL);
break;
case CIRCLE:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CIRCLE);
break;
case CRUISE:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CRUISE);
break;
case FLY_BY_WIRE_B:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_FBWB);
break;
case AVOID_ADSB:
case GUIDED:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_GUIDED);
break;
default:
// all other control_modes are auto_throttle_mode=false.
// If we are not controlling throttle, don't limit it.
allow = true;
break;
}
return allow;
}
/*
adjust nav_pitch_cd for STAB_PITCH_DOWN_CD. This is used to make
keeping up good airspeed in FBWA mode easier, as the plane will

5
ArduPlane/Plane.h
View File

@ -993,7 +993,6 @@ private:
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_is_flying_5Hz(void);
void crash_detection_update(void);
bool in_preLaunch_flight_stage(void);
@ -1066,6 +1065,10 @@ private:
void read_aux_all();
bool allow_reverse_thrust(void) const;
bool have_reverse_thrust(void) const;
int16_t get_throttle_input(bool no_deadzone=false) const;
// support for AP_Avoidance custom flight mode, AVOID_ADSB
bool avoid_adsb_init(bool ignore_checks);
void avoid_adsb_run();

4
ArduPlane/afs_plane.cpp
View File

@ -26,7 +26,7 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
if (plane.aparm.throttle_min < 0) {
if (plane.have_reverse_thrust()) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
@ -57,7 +57,7 @@ void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
if (plane.aparm.throttle_min < 0) {
if (plane.have_reverse_thrust()) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);

2
ArduPlane/failsafe.cpp
View File

@ -57,7 +57,7 @@ void Plane::failsafe_check(void)
int16_t roll = channel_roll->get_control_in_zero_dz();
int16_t pitch = channel_pitch->get_control_in_zero_dz();
int16_t throttle = channel_throttle->get_control_in_zero_dz();
int16_t throttle = get_throttle_input(true);
int16_t rudder = channel_rudder->get_control_in_zero_dz();
if (!hal.util->get_soft_armed()) {

2
ArduPlane/motor_test.cpp
View File

@ -55,7 +55,7 @@ void QuadPlane::motor_test_output()
break;
case MOTOR_TEST_THROTTLE_PILOT:
pwm = thr_min_pwm + (thr_max_pwm - thr_min_pwm) * (float)plane.channel_throttle->get_control_in()*0.01f;
pwm = thr_min_pwm + (thr_max_pwm - thr_min_pwm) * (float)plane.get_throttle_input()*0.01f;
break;
default:

4
ArduPlane/navigation.cpp
View File

@ -113,7 +113,7 @@ void Plane::calc_airspeed_errors()
float control_min = 0.0f;
float control_mid = 0.0f;
const float control_max = channel_throttle->get_range();
const float control_in = channel_throttle->get_control_in();
const float control_in = get_throttle_input();
switch (channel_throttle->get_type()) {
case RC_Channel::RC_CHANNEL_TYPE_ANGLE:
control_min = -control_max;
@ -133,7 +133,7 @@ void Plane::calc_airspeed_errors()
}
} else {
target_airspeed_cm = ((int32_t)(aparm.airspeed_max - aparm.airspeed_min) *
channel_throttle->get_control_in()) + ((int32_t)aparm.airspeed_min * 100);
get_throttle_input()) + ((int32_t)aparm.airspeed_min * 100);
}
} else if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {

2
ArduPlane/px4_mixer.cpp
View File

@ -300,7 +300,7 @@ bool Plane::setup_failsafe_mixing(void)
if (old_state == AP_HAL::Util::SAFETY_ARMED) {
// make sure the throttle has a non-zero failsafe value before we
// disable safety. This prevents sending zero PWM during switch over
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, aparm.throttle_min<0?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
// we need to force safety on to allow us to load a mixer. We call

22
ArduPlane/quadplane.cpp
View File

@ -680,7 +680,7 @@ void QuadPlane::run_esc_calibration(void)
switch (esc_calibration) {
case 1:
// throttle based calibration
motors->set_throttle_passthrough_for_esc_calibration(plane.channel_throttle->get_control_in() * 0.01f);
motors->set_throttle_passthrough_for_esc_calibration(plane.get_throttle_input() * 0.01f);
break;
case 2:
// full range calibration
@ -748,7 +748,7 @@ void QuadPlane::control_stabilize(void)
}
// normal QSTABILIZE mode
float pilot_throttle_scaled = plane.channel_throttle->get_control_in() / 100.0f;
float pilot_throttle_scaled = plane.get_throttle_input() / 100.0f;
hold_stabilize(pilot_throttle_scaled);
}
@ -943,7 +943,7 @@ bool QuadPlane::is_flying_vtol(void) const
}
if (plane.control_mode == QSTABILIZE || plane.control_mode == QHOVER || plane.control_mode == QLOITER) {
// in manual flight modes only consider aircraft landed when pilot demanded throttle is zero
return plane.channel_throttle->get_control_in() > 0;
return plane.get_throttle_input() > 0;
}
if (in_vtol_mode() && millis() - landing_detect.lower_limit_start_ms > 5000) {
// use landing detector
@ -1052,7 +1052,7 @@ void QuadPlane::control_loiter()
*/
float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
{
if (plane.channel_throttle->get_control_in() <= 0 && !plane.auto_throttle_mode) {
if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode) {
// the user may be trying to disarm
return 0;
}
@ -1071,7 +1071,7 @@ float QuadPlane::get_desired_yaw_rate_cds(void)
// use bank angle to get desired yaw rate
yaw_cds += desired_auto_yaw_rate_cds();
}
if (plane.channel_throttle->get_control_in() <= 0 && !plane.auto_throttle_mode) {
if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode) {
// the user may be trying to disarm
return 0;
}
@ -1102,7 +1102,7 @@ float QuadPlane::get_pilot_desired_climb_rate_cms(void) const
*/
void QuadPlane::init_throttle_wait(void)
{
if (plane.channel_throttle->get_control_in() >= 10 ||
if (plane.get_throttle_input() >= 10 ||
plane.is_flying()) {
throttle_wait = false;
} else {
@ -1132,7 +1132,7 @@ float QuadPlane::assist_climb_rate_cms(void) const
} else {
// otherwise estimate from pilot input
climb_rate = plane.g.flybywire_climb_rate * (plane.nav_pitch_cd/(float)plane.aparm.pitch_limit_max_cd);
climb_rate *= plane.channel_throttle->get_control_in();
climb_rate *= plane.get_throttle_input();
}
climb_rate = constrain_float(climb_rate, -wp_nav->get_speed_down(), wp_nav->get_speed_up());
@ -1256,7 +1256,7 @@ void QuadPlane::update_transition(void)
!is_tailsitter() &&
hal.util->get_soft_armed() &&
((plane.auto_throttle_mode && !plane.throttle_suppressed) ||
plane.channel_throttle->get_control_in()>0 ||
plane.get_throttle_input()>0 ||
plane.is_flying())) {
// the quad should provide some assistance to the plane
if (transition_state != TRANSITION_AIRSPEED_WAIT) {
@ -1487,7 +1487,7 @@ void QuadPlane::update(void)
// disable throttle_wait when throttle rises above 10%
if (throttle_wait &&
(plane.channel_throttle->get_control_in() > 10 ||
(plane.get_throttle_input() > 10 ||
plane.failsafe.rc_failsafe ||
plane.failsafe.throttle_counter>0)) {
throttle_wait = false;
@ -1517,7 +1517,7 @@ void QuadPlane::check_throttle_suppression(void)
}
// if the users throttle is above zero then allow motors to run
if (plane.channel_throttle->get_control_in() != 0) {
if (plane.get_throttle_input() != 0) {
return;
}
@ -2374,7 +2374,7 @@ int8_t QuadPlane::forward_throttle_pct(void)
vel_forward.integrator += fwd_vel_error * deltat * vel_forward.gain * 100;
// inhibit reverse throttle and allow petrol engines with min > 0
int8_t fwd_throttle_min = (plane.aparm.throttle_min <= 0) ? 0 : plane.aparm.throttle_min;
int8_t fwd_throttle_min = plane.have_reverse_thrust() ? 0 : plane.aparm.throttle_min;
vel_forward.integrator = constrain_float(vel_forward.integrator, fwd_throttle_min, plane.aparm.throttle_max);
// If we are below alt_cutoff then scale down the effect until it turns off at alt_cutoff and decay the integrator

12
ArduPlane/radio.cpp
View File

@ -23,7 +23,7 @@ void Plane::set_control_channels(void)
channel_roll->set_angle(SERVO_MAX);
channel_pitch->set_angle(SERVO_MAX);
channel_rudder->set_angle(SERVO_MAX);
if (aparm.throttle_min >= 0) {
if (!have_reverse_thrust()) {
// normal operation
channel_throttle->set_range(100);
} else {
@ -35,7 +35,7 @@ void Plane::set_control_channels(void)
}
if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, aparm.throttle_min<0?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
if (!quadplane.enable) {
@ -69,7 +69,7 @@ void Plane::init_rc_out_main()
configuration error where the user sets CH3_TRIM incorrectly and
the motor may start on power up
*/
if (aparm.throttle_min >= 0) {
if (!have_reverse_thrust()) {
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle);
}
@ -81,7 +81,7 @@ void Plane::init_rc_out_main()
// setup PX4 to output the min throttle when safety off if arming
// is setup for min on disarm
if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, aparm.throttle_min<0?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
}
@ -114,7 +114,7 @@ void Plane::rudder_arm_disarm_check()
}
// if throttle is not down, then pilot cannot rudder arm/disarm
if (channel_throttle->get_control_in() != 0){
if (get_throttle_input() != 0){
rudder_arm_timer = 0;
return;
}
@ -194,7 +194,7 @@ void Plane::read_radio()
control_failsafe();
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input());
if (g.throttle_nudge && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > 50 && geofence_stickmixing()) {
float nudge = (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) - 50) * 0.02f;

113
ArduPlane/reverse_thrust.cpp Normal file
View File

@ -0,0 +1,113 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
reverse thrust support functions
*/
#include "Plane.h"
/*
see if reverse thrust should be allowed in the current flight state
*/
bool Plane::allow_reverse_thrust(void) const
{
// check if we should allow reverse thrust
bool allow = false;
if (g.use_reverse_thrust == USE_REVERSE_THRUST_NEVER || !have_reverse_thrust()) {
return false;
}
switch (control_mode) {
case AUTO:
{
uint16_t nav_cmd = mission.get_current_nav_cmd().id;
// never allow reverse thrust during takeoff
if (nav_cmd == MAV_CMD_NAV_TAKEOFF) {
return false;
}
// always allow regardless of mission item
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_ALWAYS);
// landing
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LAND_APPROACH) &&
(nav_cmd == MAV_CMD_NAV_LAND);
// LOITER_TO_ALT
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT) &&
(nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT);
// any Loiter (including LOITER_TO_ALT)
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_ALL) &&
(nav_cmd == MAV_CMD_NAV_LOITER_TIME ||
nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT ||
nav_cmd == MAV_CMD_NAV_LOITER_TURNS ||
nav_cmd == MAV_CMD_NAV_LOITER_UNLIM);
// waypoints
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_WAYPOINT) &&
(nav_cmd == MAV_CMD_NAV_WAYPOINT ||
nav_cmd == MAV_CMD_NAV_SPLINE_WAYPOINT);
}
break;
case LOITER:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_LOITER);
break;
case RTL:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_RTL);
break;
case CIRCLE:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CIRCLE);
break;
case CRUISE:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CRUISE);
break;
case FLY_BY_WIRE_B:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_FBWB);
break;
case AVOID_ADSB:
case GUIDED:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_GUIDED);
break;
default:
// all other control_modes are auto_throttle_mode=false.
// If we are not controlling throttle, don't limit it.
allow = true;
break;
}
return allow;
}
/*
return true if we are configured to support reverse thrust
*/
bool Plane::have_reverse_thrust(void) const
{
return aparm.throttle_min < 0;
}
/*
return control in from the radio throttle channel.
*/
int16_t Plane::get_throttle_input(bool no_deadzone) const
{
if (no_deadzone) {
return channel_throttle->get_control_in_zero_dz();
}
return channel_throttle->get_control_in();
}

4
ArduPlane/sensors.cpp
View File

@ -133,7 +133,7 @@ void Plane::update_sensor_status_flags(void)
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
}
if (aparm.throttle_min < 0) {
if (have_reverse_thrust()) {
control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
}
if (plane.DataFlash.logging_present()) { // primary logging only (usually File)
@ -295,7 +295,7 @@ void Plane::update_sensor_status_flags(void)
}
}
if (aparm.throttle_min < 0 && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) {
if (have_reverse_thrust() && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) {
control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
}

10
ArduPlane/servos.cpp
View File

@ -257,7 +257,7 @@ void Plane::set_servos_manual_passthrough(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, channel_roll->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, channel_pitch->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, channel_rudder->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
}
/*
@ -360,7 +360,7 @@ void Plane::set_servos_controlled(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
}
} else if (g.throttle_passthru_stabilize &&
(control_mode == STABILIZE ||
@ -371,11 +371,11 @@ void Plane::set_servos_controlled(void)
!failsafe.throttle_counter) {
// manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
} else if ((control_mode == GUIDED || control_mode == AVOID_ADSB) &&
guided_throttle_passthru) {
// manual pass through of throttle while in GUIDED
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
} else if (quadplane.in_vtol_mode()) {
// ask quadplane code for forward throttle
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
@ -542,7 +542,7 @@ void Plane::servos_twin_engine_mix(void)
float throttle_left, throttle_right;
if (throttle < 0 && aparm.throttle_min < 0) {
if (throttle < 0 && have_reverse_thrust() && allow_reverse_thrust()) {
// doing reverse thrust
throttle_left = constrain_float(throttle + 50 * rudder, -100, 0);
throttle_right = constrain_float(throttle - 50 * rudder, -100, 0);

2
ArduPlane/system.cpp
View File

@ -733,7 +733,7 @@ int8_t Plane::throttle_percentage(void)
return quadplane.throttle_percentage();
}
float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
if (aparm.throttle_min >= 0) {
if (!have_reverse_thrust()) {
return constrain_int16(throttle, 0, 100);
}
return constrain_int16(throttle, -100, 100);

2
ArduPlane/tailsitter.cpp
View File

@ -127,7 +127,7 @@ void QuadPlane::tailsitter_output(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz());
}
if (tailsitter.input_mask & TAILSITTER_MASK_THROTTLE) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.channel_throttle->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.get_throttle_input(true));
}
if (tailsitter.input_mask & TAILSITTER_MASK_RUDDER) {
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, plane.channel_rudder->get_control_in_zero_dz());