Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-02 22:18:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Buzz 2020-05-18 16:57:29 +10:00 committed by Andrew Tridgell
parent 9f02b1b1a8
commit dc3db0476b
2 changed files with 22 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_Landing/AP_Landing.cpp
View File

@ -143,6 +143,13 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
// @Path: AP_Landing_Deepstall.cpp
AP_SUBGROUPINFO(deepstall, "DS_", 15, AP_Landing, AP_Landing_Deepstall),
// @Param: _OPTIONS
// @DisplayName: Landing options bitmask
// @Description: Bitmask of options to use with landing.
// @Bitmask: 0: honor min throttle during landing flare
// @User: Advanced
AP_GROUPINFO("OPTIONS", 16, AP_Landing, _options, 0),
AP_GROUPEND
};
@ -606,6 +613,12 @@ bool AP_Landing::is_throttle_suppressed(void) const
}
}
//defaults to false, but _options bit zero enables it.
bool AP_Landing::use_thr_min_during_flare(void) const
{
return (OptionsMask::ON_LANDING_FLARE_USE_THR_MIN & _options) != 0;
}
/*
* returns false when the vehicle might not be flying forward while landing
*/

8
libraries/AP_Landing/AP_Landing.h
View File

@ -57,6 +57,11 @@ public:
// TODO: TYPE_HELICAL,
};
// we support upto 32 boolean bits for users wanting to change landing behaviour.
enum OptionsMask {
ON_LANDING_FLARE_USE_THR_MIN = (1<<0), // If set then set trottle to thr_min instead of zero on final flare
};
void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
bool verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed);
@ -72,6 +77,7 @@ public:
bool is_ground_steering_allowed(void) const;
bool is_throttle_suppressed(void) const;
bool is_flying_forward(void) const;
bool use_thr_min_during_flare(void) const; //defaults to false, but _options bit zero enables it.
void handle_flight_stage_change(const bool _in_landing_stage);
int32_t constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
bool get_target_altitude_location(Location &location);
@ -115,6 +121,8 @@ private:
bool in_progress:1;
} flags;
AP_Int16 _options; // user-configurable bitmask options, via a parameter, for landing
// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
float initial_slope;